{"id":"https://openalex.org/W4415180107","doi":"https://doi.org/10.23919/ecc65951.2025.11187105","title":"An Uncertainty-Responsive Safe MPC for Autonomous Driving in Dynamic Environments","display_name":"An Uncertainty-Responsive Safe MPC for Autonomous Driving in Dynamic Environments","publication_year":2025,"publication_date":"2025-06-24","ids":{"openalex":"https://openalex.org/W4415180107","doi":"https://doi.org/10.23919/ecc65951.2025.11187105"},"language":"en","primary_location":{"id":"doi:10.23919/ecc65951.2025.11187105","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","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/A5044592105","display_name":"Ying Shuai Quan","orcid":"https://orcid.org/0000-0001-5035-4542"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Ying Shuai Quan","raw_affiliation_strings":["Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019767300","display_name":"Paolo Falcone","orcid":"https://orcid.org/0000-0001-9587-9924"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Paolo Falcone","raw_affiliation_strings":["Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016897258","display_name":"Jonas Sj\u00f6berg","orcid":"https://orcid.org/0000-0003-2685-8083"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Jonas Sj\u00f6berg","raw_affiliation_strings":["Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Mechatronics Group at the Department of Electrical Engineering,Gothenburg,Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5044592105"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36377703,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2223","last_page":"2228"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9815999865531921,"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"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9815999865531921,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11181","display_name":"Advanced Data Storage Technologies","score":0.9653000235557556,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.558899998664856},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4602000117301941},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.3617999851703644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.319599986076355},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.31839999556541443},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3009999990463257}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.558899998664856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5138999819755554},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4602000117301941},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38100001215934753},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.3617999851703644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.319599986076355},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.31839999556541443},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3100999891757965},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30640000104904175},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2773999869823456},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C76969082","wikidata":"https://www.wikidata.org/wiki/Q486902","display_name":"Mathematical model","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C2992914290","wikidata":"https://www.wikidata.org/wiki/Q5759966","display_name":"Highway system","level":2,"score":0.25760000944137573}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc65951.2025.11187105","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc65951.2025.11187105","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321030","display_name":"VINNOVA","ror":"https://ror.org/01kd5m353"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W2062031217","https://openalex.org/W2123871098","https://openalex.org/W2523760000","https://openalex.org/W2749680651","https://openalex.org/W2782695576","https://openalex.org/W2842089854","https://openalex.org/W2909340331","https://openalex.org/W2967952682","https://openalex.org/W3047545417","https://openalex.org/W4296425769","https://openalex.org/W4385299572","https://openalex.org/W4390872623"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,51],"uncertainty-responsive":[4],"model":[5],"predictive":[6],"control":[7],"(MPC)":[8],"framework":[9],"designed":[10],"to":[11,43,66,71],"ensure":[12],"the":[13,28,32,56,60,68,72,76,97,108],"safe":[14],"operation":[15],"of":[16,31,55,75,85,104,107],"autonomous":[17],"vehicles":[18],"(AVs)":[19],"in":[20,102],"those":[21],"environments":[22],"like,":[23],"e.g.,":[24],"urban":[25,86],"traffic,":[26],"where":[27],"predicted":[29],"behavior":[30,54,70],"surrounding":[33,109],"road":[34],"users":[35],"(RUs)":[36],"could":[37],"be":[38],"highly":[39],"uncertain,":[40],"thus":[41],"leading":[42],"potential":[44],"collisions":[45,101],"between":[46],"AV":[47],"and":[48,87],"RUs":[49],"or":[50],"unacceptably":[52],"over-conservative":[53],"AV.In":[57],"our":[58],"framework,":[59],"collision-avoidance":[61],"constraints":[62],"are":[63],"adjusted":[64],"on-line":[65],"adapt":[67],"AV\u2019s":[69],"varying":[73],"uncertainty":[74],"RUs\u2019":[77],"prediction":[78],"model,":[79],"such":[80],"that":[81,96],"safety":[82],"is":[83],"preserved.Simulations":[84],"highway":[88],"driving":[89],"scenarios,":[90],"constructed":[91],"upon":[92],"real-world":[93],"data,":[94],"show":[95],"proposed":[98],"approach":[99],"avoids":[100],"presence":[103],"unpredicted":[105],"behaviors":[106],"RUs.":[110]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-15T00:00:00"}
