%0 Computer Program
%A Gharavi, Leila
%D 2023
%T Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios
%U 
%R 10.4121/c4c3015e-702a-43dc-9eed-33b9d207604e.v1
%K Model Predictive Control
%K Stochastic Model Predictive Control
%K Collision Avoidance
%K Automated Driving
%K Motion Planning
%K Evasive Maneuvers
%K Proactive Control
%K Emergency Scenarios
%X <p>This repository includes local motion planners for<strong> emergency collision avoidance</strong> in automated driving systems. These planners incorporate<strong> stochastic prediction models for other road users</strong> (e.g. vehicles or static obstacles) and <strong>a dynamic prediction model for the ego vehicle</strong>. Further, the planners are formulated as <strong>model predictive control optimization problems</strong> and are designed to find a reference trajectory for the ego vehicle to avoid collision with the road users/obstacles and road boundaries while taking into account the uncertainty in predicting the behavior of other road users. </p><p></p>
%I 4TU.ResearchData