{"id":"https://openalex.org/W4401751930","doi":"https://doi.org/10.1109/aim55361.2024.10637113","title":"Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring*","display_name":"Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring*","publication_year":2024,"publication_date":"2024-07-15","ids":{"openalex":"https://openalex.org/W4401751930","doi":"https://doi.org/10.1109/aim55361.2024.10637113"},"language":"en","primary_location":{"id":"doi:10.1109/aim55361.2024.10637113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10637113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001424518","display_name":"Alberto Bertipaglia","orcid":"https://orcid.org/0000-0003-0364-8833"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Alberto Bertipaglia","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040646238","display_name":"Davide Tavernini","orcid":"https://orcid.org/0000-0001-5171-8803"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Davide Tavernini","raw_affiliation_strings":["University of Surrey,Centre for Automotive Engineering,Guildford,U.K,GU2 7XH"],"affiliations":[{"raw_affiliation_string":"University of Surrey,Centre for Automotive Engineering,Guildford,U.K,GU2 7XH","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014996697","display_name":"Umberto Montanaro","orcid":"https://orcid.org/0000-0003-0620-1906"},"institutions":[{"id":"https://openalex.org/I28290843","display_name":"University of Surrey","ror":"https://ror.org/00ks66431","country_code":"GB","type":"education","lineage":["https://openalex.org/I28290843"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Umberto Montanaro","raw_affiliation_strings":["University of Surrey,Centre for Automotive Engineering,Guildford,U.K,GU2 7XH"],"affiliations":[{"raw_affiliation_string":"University of Surrey,Centre for Automotive Engineering,Guildford,U.K,GU2 7XH","institution_ids":["https://openalex.org/I28290843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070235275","display_name":"Mohsen Alirezaei","orcid":"https://orcid.org/0000-0002-2858-6408"},"institutions":[{"id":"https://openalex.org/I83019370","display_name":"Eindhoven University of Technology","ror":"https://ror.org/02c2kyt77","country_code":"NL","type":"education","lineage":["https://openalex.org/I83019370"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Mohsen Alirezaei","raw_affiliation_strings":["University of Eindhoven,Department of Mechanical Engineering,AZ Eindhoven,The Netherlands,5612"],"affiliations":[{"raw_affiliation_string":"University of Eindhoven,Department of Mechanical Engineering,AZ Eindhoven,The Netherlands,5612","institution_ids":["https://openalex.org/I83019370"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002136525","display_name":"Riender Happee","orcid":"https://orcid.org/0000-0001-5878-3472"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Riender Happee","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030174677","display_name":"Aldo Sorniotti","orcid":"https://orcid.org/0000-0002-4848-058X"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Aldo Sorniotti","raw_affiliation_strings":["Politecnico di Torino,Departement of Mechanical and Aerospace Engineering,Torino,Italy,10129"],"affiliations":[{"raw_affiliation_string":"Politecnico di Torino,Departement of Mechanical and Aerospace Engineering,Torino,Italy,10129","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087543232","display_name":"Barys Shyrokau","orcid":"https://orcid.org/0000-0003-4530-8853"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Barys Shyrokau","raw_affiliation_strings":["Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628"],"affiliations":[{"raw_affiliation_string":"Delft University of Technology,Department of Cognitive Robotics,CD Delft,The Netherlands,2628","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5001424518"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":1.4305,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.80764892,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1468","last_page":"1475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9890000224113464,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/contouring","display_name":"Contouring","score":0.7521354556083679},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7380518913269043},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6091023683547974},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.580184817314148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5620741248130798},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5442195534706116},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5303759574890137},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41425448656082153},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3043137788772583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16576015949249268},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16260653734207153},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11067739129066467},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07822263240814209}],"concepts":[{"id":"https://openalex.org/C2779104521","wikidata":"https://www.wikidata.org/wiki/Q23058469","display_name":"Contouring","level":2,"score":0.7521354556083679},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7380518913269043},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6091023683547974},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.580184817314148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5620741248130798},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5442195534706116},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5303759574890137},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41425448656082153},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3043137788772583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16576015949249268},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16260653734207153},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11067739129066467},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07822263240814209},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim55361.2024.10637113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim55361.2024.10637113","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1578293866","https://openalex.org/W2003571098","https://openalex.org/W2093663262","https://openalex.org/W2106851097","https://openalex.org/W2434262072","https://openalex.org/W2607001947","https://openalex.org/W2810110363","https://openalex.org/W2889870787","https://openalex.org/W2990494268","https://openalex.org/W3015947429","https://openalex.org/W3083151240","https://openalex.org/W3097634115","https://openalex.org/W3123372997","https://openalex.org/W3135363299","https://openalex.org/W3149146798","https://openalex.org/W4283767019","https://openalex.org/W4283780049","https://openalex.org/W4285243883","https://openalex.org/W4312263960","https://openalex.org/W4321499834","https://openalex.org/W4362704509","https://openalex.org/W4389474010","https://openalex.org/W4389474033","https://openalex.org/W4394841794","https://openalex.org/W4403353798","https://openalex.org/W6839420133","https://openalex.org/W6855549671"],"related_works":["https://openalex.org/W2028761375","https://openalex.org/W2915337797","https://openalex.org/W2360204191","https://openalex.org/W2968335000","https://openalex.org/W2044363672","https://openalex.org/W4402168542","https://openalex.org/W2073091389","https://openalex.org/W2045558343","https://openalex.org/W4315646535","https://openalex.org/W1968493577"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,68,126],"original":[4],"approach":[5,177],"to":[6,25,72,98,113,135,154,197],"vehicle":[7,30,48,64,141,159,187],"obstacle":[8],"avoidance.":[9],"It":[10],"involves":[11],"the":[12,29,35,74,84,89,95,107,114,117,121,131,140,149,156,168,186],"development":[13],"of":[14,37,94,116,170,180],"a":[15,61,162,191],"nonlinear":[16,62,75],"Model":[17],"Predictive":[18],"Contouring":[19],"Control,":[20],"which":[21],"uses":[22],"torque":[23,171,200],"vectoring":[24,201],"stabilise":[26],"and":[27,47,78,88,105,158,184],"drive":[28],"in":[31,54,102,110,148,195],"evasive":[32],"manoeuvres":[33],"at":[34],"limit":[36],"handling.":[38],"The":[39,56,81,143],"proposed":[40,122,176],"algorithm":[41],"combines":[42],"motion":[43],"planning,":[44],"path":[45],"tracking":[46,100],"stability":[49],"objectives,":[50],"prioritising":[51],"collision":[52,203],"avoidance":[53,204],"emergencies.":[55,111],"controller\u2019s":[57],"prediction":[58],"model":[59,65],"is":[60,178],"double-track":[63],"based":[66],"on":[67],"extended":[69],"Fiala":[70],"tyre":[71,119,150],"capture":[73],"coupled":[76],"longitudinal":[77,90,118],"lateral":[79,133],"dynamics.":[80],"controller":[82,123],"computes":[83],"optimal":[85,144],"steering":[86],"angle":[87],"forces":[91,145],"per":[92],"each":[93],"four":[96],"wheels":[97],"minimise":[99],"error":[101],"safe":[103],"situations":[104],"maximise":[106],"vehicle-to-obstacle":[108],"distance":[109],"Thanks":[112],"optimisation":[115],"forces,":[120],"can":[124],"produce":[125],"extra":[127],"yaw":[128],"moment,":[129],"increasing":[130],"vehicle\u2019s":[132],"agility":[134],"avoid":[136],"obstacles":[137,183],"while":[138,189],"keeping":[139,185],"stable.":[142],"are":[146],"constrained":[147],"friction":[151],"circle":[152],"not":[153],"exceed":[155],"tyres":[157],"capabilities.":[160],"In":[161],"high-fidelity":[163],"simulation":[164],"environment,":[165],"we":[166],"demonstrate":[167],"benefits":[169],"vectoring,":[172],"showing":[173],"that":[174],"our":[175],"capable":[179],"successfully":[181],"avoiding":[182],"stable":[188],"driving":[190],"double-lane":[192],"change":[193],"manoeuvre,":[194],"comparison":[196],"baselines":[198],"lacking":[199],"or":[202],"prioritisation.":[205]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
