{"id":"https://openalex.org/W3185493413","doi":"https://doi.org/10.1109/med51440.2021.9480227","title":"Model-Based Design and Processor-In-the-Loop Validation of a Model Predictive Control for Coupled Longitudinal-Lateral Vehicle Dynamics of Connected and Automated Vehicles","display_name":"Model-Based Design and Processor-In-the-Loop Validation of a Model Predictive Control for Coupled Longitudinal-Lateral Vehicle Dynamics of Connected and Automated Vehicles","publication_year":2021,"publication_date":"2021-06-22","ids":{"openalex":"https://openalex.org/W3185493413","doi":"https://doi.org/10.1109/med51440.2021.9480227","mag":"3185493413"},"language":"en","primary_location":{"id":"doi:10.1109/med51440.2021.9480227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med51440.2021.9480227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 29th Mediterranean Conference on Control and Automation (MED)","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/A5064341745","display_name":"Enrico Landolfi","orcid":"https://orcid.org/0000-0001-5628-1807"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Enrico Landolfi","raw_affiliation_strings":["Netcom Group S.p.a., University of Campania Luigi Vanvitelli"],"affiliations":[{"raw_affiliation_string":"Netcom Group S.p.a., University of Campania Luigi Vanvitelli","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032052720","display_name":"Alessandro Salvi","orcid":"https://orcid.org/0000-0003-0675-3487"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Salvi","raw_affiliation_strings":["CTO, Netcom Group S.p.a., Napoli, Italy","Netcom Group S.p.a., University of Campania Luigi Vanvitelli"],"affiliations":[{"raw_affiliation_string":"CTO, Netcom Group S.p.a., Napoli, Italy","institution_ids":[]},{"raw_affiliation_string":"Netcom Group S.p.a., University of Campania Luigi Vanvitelli","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081315486","display_name":"Alfredo Troiano","orcid":"https://orcid.org/0000-0002-1328-2671"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alfredo Troiano","raw_affiliation_strings":["CTO, Netcom Group S.p.a., Napoli, Italy","Netcom Group S.p.a., University of Campania Luigi Vanvitelli"],"affiliations":[{"raw_affiliation_string":"CTO, Netcom Group S.p.a., Napoli, Italy","institution_ids":[]},{"raw_affiliation_string":"Netcom Group S.p.a., University of Campania Luigi Vanvitelli","institution_ids":["https://openalex.org/I197809005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041446451","display_name":"Ciro Natale","orcid":"https://orcid.org/0000-0001-6550-0573"},"institutions":[{"id":"https://openalex.org/I197809005","display_name":"University of Campania \"Luigi Vanvitelli\"","ror":"https://ror.org/02kqnpp86","country_code":"IT","type":"education","lineage":["https://openalex.org/I197809005"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ciro Natale","raw_affiliation_strings":["Department of Engineering, University of Campania Luigi Vanvitelli, Aversa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Campania Luigi Vanvitelli, Aversa, Italy","institution_ids":["https://openalex.org/I197809005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064341745"],"corresponding_institution_ids":["https://openalex.org/I197809005"],"apc_list":null,"apc_paid":null,"fwci":0.5499,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.65506826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9987000226974487,"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/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9962999820709229,"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/cruise-control","display_name":"Cruise control","score":0.6624755859375},{"id":"https://openalex.org/keywords/driving-cycle","display_name":"Driving cycle","score":0.6407216787338257},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6155481338500977},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5660801529884338},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5242120027542114},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5204874873161316},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.48307183384895325},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.47336122393608093},{"id":"https://openalex.org/keywords/intelligent-transportation-system","display_name":"Intelligent transportation system","score":0.47274482250213623},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.4687652289867401},{"id":"https://openalex.org/keywords/hardware-in-the-loop-simulation","display_name":"Hardware-in-the-loop simulation","score":0.4642900228500366},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46220067143440247},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.4215860068798065},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4139557480812073},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.3970394432544708},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3505175709724426},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30293774604797363},{"id":"https://openalex.org/keywords/electric-vehicle","display_name":"Electric vehicle","score":0.16811314225196838}],"concepts":[{"id":"https://openalex.org/C113168747","wikidata":"https://www.wikidata.org/wiki/Q507295","display_name":"Cruise control","level":3,"score":0.6624755859375},{"id":"https://openalex.org/C169042556","wikidata":"https://www.wikidata.org/wiki/Q16246150","display_name":"Driving cycle","level":4,"score":0.6407216787338257},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6155481338500977},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5660801529884338},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5242120027542114},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5204874873161316},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.48307183384895325},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.47336122393608093},{"id":"https://openalex.org/C47796450","wikidata":"https://www.wikidata.org/wiki/Q508378","display_name":"Intelligent transportation system","level":2,"score":0.47274482250213623},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.4687652289867401},{"id":"https://openalex.org/C70587628","wikidata":"https://www.wikidata.org/wiki/Q1142371","display_name":"Hardware-in-the-loop simulation","level":2,"score":0.4642900228500366},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46220067143440247},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.4215860068798065},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4139557480812073},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3970394432544708},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3505175709724426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30293774604797363},{"id":"https://openalex.org/C2776422217","wikidata":"https://www.wikidata.org/wiki/Q13629441","display_name":"Electric vehicle","level":3,"score":0.16811314225196838},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med51440.2021.9480227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med51440.2021.9480227","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 29th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1465464","https://openalex.org/W178401335","https://openalex.org/W1560307644","https://openalex.org/W1589190705","https://openalex.org/W1845205111","https://openalex.org/W1964565648","https://openalex.org/W1991381436","https://openalex.org/W2045629876","https://openalex.org/W2093699968","https://openalex.org/W2112930335","https://openalex.org/W2163893534","https://openalex.org/W2188012048","https://openalex.org/W2297078342","https://openalex.org/W2489990183","https://openalex.org/W2578870279","https://openalex.org/W2783365392","https://openalex.org/W2786786319","https://openalex.org/W2794131911","https://openalex.org/W2797923482","https://openalex.org/W2808442425","https://openalex.org/W2898344970","https://openalex.org/W2963598509","https://openalex.org/W2980076059","https://openalex.org/W2991349489","https://openalex.org/W4294559954","https://openalex.org/W6607200669","https://openalex.org/W6638985311","https://openalex.org/W6683884538","https://openalex.org/W6723202216","https://openalex.org/W6732596470","https://openalex.org/W6749696221","https://openalex.org/W6752278917"],"related_works":["https://openalex.org/W4253720181","https://openalex.org/W644513019","https://openalex.org/W2166269968","https://openalex.org/W2586244547","https://openalex.org/W1963747729","https://openalex.org/W2517167844","https://openalex.org/W2246414322","https://openalex.org/W1122978781","https://openalex.org/W173875111","https://openalex.org/W651900853"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,44,51],"Model":[4],"Predictive":[5],"Control":[6,83],"(MPC)":[7],"strategy":[8,40],"for":[9,103,143,212],"Connected":[10],"and":[11,23,89,122,134,137,166,202,211],"Automated":[12],"Vehicles":[13],"(CAVs),":[14],"able":[15],"to":[16,24,113,132,146,175,206],"work":[17],"in":[18,55],"intelligent":[19],"cooperative":[20],"driving":[21],"environments":[22],"provide":[25,76],"Advanced":[26],"Driver":[27],"Assistance":[28,73],"Systems":[29,62],"(ADAS)":[30],"at":[31],"SAE":[32],"automation":[33],"level":[34],"L4":[35],"(High":[36],"Automation).":[37],"The":[38,94,117,139,171,197],"control":[39],"is":[41,97,174,185,200],"implemented":[42],"from":[43],"vehicle":[45,106,210],"point":[46],"of":[47,164,182,194,209],"view,":[48],"interfaced":[49],"with":[50,109],"Smart":[52],"Road":[53],"infrastructure":[54],"order":[56],"to:":[57],"i)":[58],"receive":[59],"Cooperative-Intelligent":[60],"Transportation":[61],"(C-ITS)":[63],"services":[64],"such":[65,79],"as":[66,80],"dynamic":[67],"speed":[68],"limits":[69],"by":[70],"Intelligent":[71],"Speed":[72],"(ISA);":[74],"ii)":[75],"ADAS":[77],"functionalities":[78],"Adaptive":[81],"Cruise":[82],"(ACC),":[84],"Emergency":[85],"Electronic":[86],"Brake":[87],"(EEB)":[88],"Lane":[90],"Keeping":[91],"System":[92],"(LKS).":[93],"MPC":[95,118,140,165,184],"design":[96],"based":[98],"on":[99,154,169],"nonlinear":[100],"bicycle":[101],"model":[102,136],"coupled":[104],"longitudinal-lateral":[105],"dynamics,":[107],"extended":[108],"additional":[110],"information":[111,160],"related":[112],"an":[114,155],"ahead":[115],"vehicle.":[116],"provides":[119,159],"wheel":[120],"torque":[121],"steering":[123],"angle":[124],"(at":[125],"the":[126,150,178,183,190],"wheels).":[127],"We":[128],"used":[129],"MATLAB/Simulink":[130],"(R2020b)":[131],"develop":[133],"verify":[135,176],"control.":[138],"was":[141],"compiled":[142],"STM32":[144],"MCU":[145],"run":[147],"Processor":[148],"In":[149],"Loop":[151],"(PIL)":[152],"testing":[153],"ST":[156],"NUCLEO-H743ZI2.":[157],"PIL":[158],"about":[161],"memory":[162],"usage":[163],"execution":[167,180],"time":[168,181,193],"MCU.":[170],"main":[172],"objective":[173],"that":[177],"cycle":[179,192],"lower":[186],"than":[187],"10":[188],"ms,":[189],"typical":[191],"CAN":[195],"messages.":[196],"proposed":[198],"methodology":[199],"general":[201],"can":[203],"be":[204],"applied":[205],"any":[207],"kind":[208],"different":[213],"road":[214],"conditions.":[215]},"counts_by_year":[{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
