{"id":"https://openalex.org/W4319986638","doi":"https://doi.org/10.55417/fr.2023006","title":"Adaptive nonlinear model predictive control: maximizing tire force and obstacle avoidance in autonomous vehicles","display_name":"Adaptive nonlinear model predictive control: maximizing tire force and obstacle avoidance in autonomous vehicles","publication_year":2023,"publication_date":"2023-02-01","ids":{"openalex":"https://openalex.org/W4319986638","doi":"https://doi.org/10.55417/fr.2023006"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2023006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2023006","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071952354","display_name":"James Dallas","orcid":"https://orcid.org/0000-0001-9109-1857"},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]},{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"James Dallas","raw_affiliation_strings":["Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,"],"affiliations":[{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","institution_ids":["https://openalex.org/I1293612202"]},{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075214232","display_name":"Michael Thompson","orcid":"https://orcid.org/0000-0002-3269-7987"},"institutions":[{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]},{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Thompson","raw_affiliation_strings":["Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,"],"affiliations":[{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","institution_ids":["https://openalex.org/I1293612202"]},{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040317351","display_name":"Jonathan Y. M. Goh","orcid":"https://orcid.org/0000-0002-9999-2374"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonathan Y. M. Goh","raw_affiliation_strings":["Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,"],"affiliations":[{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","institution_ids":["https://openalex.org/I1293612202"]},{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,","institution_ids":["https://openalex.org/I4391768151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053564861","display_name":"Avinash Balachandran","orcid":"https://orcid.org/0000-0003-2270-8985"},"institutions":[{"id":"https://openalex.org/I4391768151","display_name":"Toyota Research Institute","ror":"https://ror.org/04fpkc108","country_code":null,"type":"facility","lineage":["https://openalex.org/I4210125472","https://openalex.org/I4391768151"]},{"id":"https://openalex.org/I1293612202","display_name":"Toyota Motor Corporation (Switzerland)","ror":"https://ror.org/05p0pbv75","country_code":"CH","type":"company","lineage":["https://openalex.org/I1293612202","https://openalex.org/I4210125472","https://openalex.org/I4210137853"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Avinash Balachandran","raw_affiliation_strings":["Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,"],"affiliations":[{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022","institution_ids":["https://openalex.org/I1293612202"]},{"raw_affiliation_string":"Extreme Vehicle Dynamics Control group, Toyota Research Institute, Los Altos, CA, 94022,","institution_ids":["https://openalex.org/I4391768151"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071952354"],"corresponding_institution_ids":["https://openalex.org/I1293612202","https://openalex.org/I4391768151"],"apc_list":null,"apc_paid":null,"fwci":1.3528,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79259838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"222","last_page":"242"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998000264167786,"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":0.9998000264167786,"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/T10409","display_name":"Fuel Cells and Related Materials","score":0.9921000003814697,"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/T12095","display_name":"Vehicle emissions and performance","score":0.9876000285148621,"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/model-predictive-control","display_name":"Model predictive control","score":0.7850250005722046},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.6267044544219971},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.5123418569564819},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5116358399391174},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.491240918636322},{"id":"https://openalex.org/keywords/brake","display_name":"Brake","score":0.45348283648490906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4492748975753784},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4490634799003601},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.42549869418144226},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4213069677352905},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4082012176513672},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35409557819366455},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27200281620025635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09799078106880188}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7850250005722046},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.6267044544219971},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.5123418569564819},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5116358399391174},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.491240918636322},{"id":"https://openalex.org/C2780999251","wikidata":"https://www.wikidata.org/wiki/Q17022503","display_name":"Brake","level":2,"score":0.45348283648490906},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4492748975753784},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4490634799003601},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.42549869418144226},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4213069677352905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4082012176513672},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35409557819366455},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27200281620025635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09799078106880188},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.55417/fr.2023006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2304.12263","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2304.12263","pdf_url":"https://arxiv.org/pdf/2304.12263","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.55417/fr.2023006","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023006","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W312875678","https://openalex.org/W1560307644","https://openalex.org/W1968651586","https://openalex.org/W2054649160","https://openalex.org/W2093699968","https://openalex.org/W2112930335","https://openalex.org/W2123871098","https://openalex.org/W2346595613","https://openalex.org/W2515319037","https://openalex.org/W2735025962","https://openalex.org/W2773226774","https://openalex.org/W2842089854","https://openalex.org/W2981761302","https://openalex.org/W2990494268","https://openalex.org/W3018111941","https://openalex.org/W3034331814","https://openalex.org/W3045694297","https://openalex.org/W3103145119","https://openalex.org/W3145670798","https://openalex.org/W3154186369","https://openalex.org/W3201470660","https://openalex.org/W4319986638","https://openalex.org/W4389324858","https://openalex.org/W6610987098"],"related_works":["https://openalex.org/W2051851664","https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W4226096793","https://openalex.org/W2337419774","https://openalex.org/W128654086","https://openalex.org/W2104330011","https://openalex.org/W3158991496","https://openalex.org/W1964143698"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,66,135],"reliably":[3],"maximize":[4],"tire":[5,35,73,139],"force":[6,36,74,140],"usage":[7,141],"would":[8],"improve":[9],"the":[10,24,48,93,103,143],"safety":[11],"of":[12,26,137,147],"autonomous":[13],"vehicles,":[14],"especially":[15],"in":[16,92,113],"challenging":[17],"edge":[18],"cases.":[19],"However,":[20],"vehicle":[21,108,127],"control":[22,52,95,105],"near":[23],"limits":[25],"handling":[27],"has":[28],"many":[29],"challenges,":[30],"including":[31],"robustly":[32],"contending":[33],"with":[34,47,87,97],"saturation,":[37],"balancing":[38],"model":[39,86,109],"fidelity":[40],"and":[41,44,70],"computational":[42],"efficiency,":[43],"coordinating":[45],"inputs":[46],"lower":[49],"level":[50],"chassis":[51,104],"system.":[53],"This":[54,107],"work":[55],"studies":[56],"Nonlinear":[57],"Model":[58],"Predictive":[59],"Control":[60],"for":[61,118],"limit":[62],"handling,":[63],"specifically":[64],"adapting":[65],"changing":[67],"tire-road":[68],"conditions":[69],"maximally":[71],"allocating":[72],"utilization.":[75],"We":[76],"present":[77],"a":[78,84,125,130],"novel":[79],"hierarchical":[80],"framework":[81],"that":[82],"combines":[83],"single-track":[85],"longitudinal":[88],"weight":[89],"transfer":[90],"dynamics":[91],"predictive":[94],"layer,":[96],"lateral":[98],"brake":[99],"distribution":[100],"occurring":[101],"at":[102,133],"layer.":[106],"is":[110],"simultaneously":[111],"used":[112],"an":[114],"Unscented":[115],"Kalman":[116],"Filter":[117],"online":[119],"friction":[120],"estimation.":[121],"Comparative":[122],"experiments":[123],"on":[124,129],"full-scale":[126],"operating":[128],"race":[131],"track":[132],"up":[134],"95%":[136],"maximum":[138],"demonstrate":[142],"overall":[144],"practical":[145],"effectiveness":[146],"this":[148],"approach.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2023-02-11T00:00:00"}