{"id":"https://openalex.org/W4366381078","doi":"https://doi.org/10.1145/3584376.3584428","title":"Contingency MPC for automated vehicles in safety critical scenarios with varying cornering stiffness prediction","display_name":"Contingency MPC for automated vehicles in safety critical scenarios with varying cornering stiffness prediction","publication_year":2022,"publication_date":"2022-12-16","ids":{"openalex":"https://openalex.org/W4366381078","doi":"https://doi.org/10.1145/3584376.3584428"},"language":"en","primary_location":{"id":"doi:10.1145/3584376.3584428","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","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/A5004407748","display_name":"Feng Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I146620803","display_name":"Wenzhou University","ror":"https://ror.org/020hxh324","country_code":"CN","type":"education","lineage":["https://openalex.org/I146620803"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Zhou","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Wenzhou University, China"],"raw_orcid":"https://orcid.org/0000-0002-2076-9525","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Wenzhou University, China","institution_ids":["https://openalex.org/I146620803"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072628720","display_name":"Liang Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I146620803","display_name":"Wenzhou University","ror":"https://ror.org/020hxh324","country_code":"CN","type":"education","lineage":["https://openalex.org/I146620803"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Shao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Wenzhou University, China"],"raw_orcid":"https://orcid.org/0000-0001-7378-3067","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Wenzhou University, China","institution_ids":["https://openalex.org/I146620803"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005993077","display_name":"Shenghe Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I146620803","display_name":"Wenzhou University","ror":"https://ror.org/020hxh324","country_code":"CN","type":"education","lineage":["https://openalex.org/I146620803"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenghe Tang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Wenzhou University, China"],"raw_orcid":"https://orcid.org/0000-0002-3301-755X","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Wenzhou University, China","institution_ids":["https://openalex.org/I146620803"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I146620803"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"283","last_page":"287"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9977999925613403,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/stiffness","display_name":"Stiffness","score":0.7524175643920898},{"id":"https://openalex.org/keywords/axle","display_name":"Axle","score":0.6063714027404785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4965830445289612},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47710803151130676},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4652844965457916},{"id":"https://openalex.org/keywords/contingency","display_name":"Contingency","score":0.434330552816391},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4159415066242218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4117634892463684},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4116249084472656},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3362027108669281},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2727808356285095},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24774137139320374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06469261646270752}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7524175643920898},{"id":"https://openalex.org/C129727815","wikidata":"https://www.wikidata.org/wiki/Q188209","display_name":"Axle","level":2,"score":0.6063714027404785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4965830445289612},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47710803151130676},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4652844965457916},{"id":"https://openalex.org/C97508593","wikidata":"https://www.wikidata.org/wiki/Q1359069","display_name":"Contingency","level":2,"score":0.434330552816391},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4159415066242218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4117634892463684},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4116249084472656},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3362027108669281},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2727808356285095},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24774137139320374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06469261646270752},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3584376.3584428","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3584376.3584428","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1968651586","https://openalex.org/W1970411044","https://openalex.org/W1979317847","https://openalex.org/W2056948589","https://openalex.org/W2369602233","https://openalex.org/W2401135644","https://openalex.org/W2529203031","https://openalex.org/W2923817898","https://openalex.org/W2972896277"],"related_works":["https://openalex.org/W650759427","https://openalex.org/W2331622280","https://openalex.org/W127377949","https://openalex.org/W4312942650","https://openalex.org/W2525671755","https://openalex.org/W2545991200","https://openalex.org/W645743027","https://openalex.org/W2359817373","https://openalex.org/W4306353745","https://openalex.org/W128654086"],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"is":[4,33,47,127,131],"widely":[5],"used":[6],"in":[7,25,49,59,88,144,157],"automated":[8],"driving":[9],"due":[10],"to":[11,69,79,95],"its":[12],"capability":[13],"of":[14,101],"dealing":[15],"with":[16],"multi-objectives":[17],"and":[18,65,98,115,140],"system":[19],"constraints.":[20],"To":[21],"improve":[22],"MPC's":[23],"ability":[24],"tackling":[26],"road":[27,102,141],"friction":[28,142],"uncertainty,":[29],"contingency":[30],"MPC":[31],"(CMPC)":[32],"proposed":[34],"by":[35,83,133],"Alsterda":[36],"[1].":[37],"However,":[38],"current":[39],"CMPC":[40,130,163],"framework":[41],"assumes":[42],"the":[43,50,60,89,96,111,145],"tire":[44,63,136],"cornering":[45,86,125,137],"stiffness":[46,87,126,138],"constant":[48],"prediction":[51,57,146],"horizon,":[52],"which":[53,122],"may":[54,67],"cause":[55],"large":[56],"error":[58],"highly":[61],"nonlinear":[62],"region":[64],"thus":[66],"lead":[68],"a":[70,77],"collision.":[71],"In":[72],"this":[73,81],"paper,":[74],"we":[75,109],"propose":[76],"method":[78,154],"overcome":[80],"shortcoming":[82],"introducing":[84],"varying":[85,124],"safety":[90,158],"critical":[91,159],"scenarios.":[92],"Firstly,":[93],"according":[94],"upper":[97],"lower":[99],"boundary":[100],"condition":[103],"as":[104,106],"well":[105],"reference":[107,123],"path,":[108],"deduce":[110],"steady":[112],"state":[113],"front":[114],"rear":[116],"axle":[117],"lateral":[118],"force,":[119],"based":[120],"on":[121],"calculated.":[128],"Secondly,":[129],"formulated":[132],"simultaneously":[134],"considering":[135],"variation":[139],"uncertainty":[143],"horizon.":[147],"Finally,":[148],"simulation":[149],"results":[150],"illustrate":[151],"that":[152],"our":[153],"performs":[155],"better":[156],"situation":[160],"than":[161],"nominal":[162],"does.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
