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DOI: 10.4121/c4c3015e-702a-43dc-9eed-33b9d207604e

Gharavi, Leila (2025): Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios. Version 2. 4TU.ResearchData. software. https://doi.org/10.4121/c4c3015e-702a-43dc-9eed-33b9d207604e.v2

Version 1 - 2023-09-21

Usage statistics

Categories

• Mechanical Engineering
• Other Engineering
• Applied Mathematics
• Interdisciplinary Engineering
• Ground Transport
• Automotive Engineering
• Other Technology
• Engineering
• Transport
• Mathematical Sciences
• Technology

Keywords

Automated Driving Collision Avoidance Emergency Scenarios Evasive Maneuvers Model Predictive Control Motion Planning Proactive Control Stochastic Model Predictive Control

Licence

MIT

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by Leila Gharavi

This repository includes local motion planners for emergency collision avoidance in automated driving systems. These planners incorporate stochastic prediction models for other road users (e.g. vehicles or static obstacles) and a dynamic prediction model for the ego vehicle. Further, the planners are formulated as model predictive control optimization problems and are designed to find a reference trajectory for the ego vehicle to avoid collision with the road users/obstacles and road boundaries while taking into account the uncertainty in predicting the behavior of other road users.

History

• 2023-09-21 first online

• 2025-01-30 published, posted

Publisher

4TU.ResearchData

Format

MLX file including MATLAB codes and functions

Funding

• Control of Evasive Manoeuvres for Automated Driving: Solving the Edge Cases (EVOLVE) (grant code 18484) NWO Open Technology Programme

Organizations

TU Delft, Faculty Mechanical, Maritime and Materials Engineering (3ME), Delft Center for Systems and Control