Control Strategies for Advanced Driver Assistance Systems and Autonomous Driving Functions

1. Front Matter

   Pages i-xviii

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2. Cooperation and the Role of Autonomy in Automated Driving

   • Gina Wessel, Eugen Altendorf, Constanze Schreck, Yigiterkut Canpolat, Frank Flemisch

   Pages 1-27

3. Robust Real-World Emissions by Integrated ADF and Powertrain Control Development

   • Frank Willems, Peter van Gompel, Xander Seykens, Steven Wilkins

   Pages 29-45

4. Gaining Knowledge on Automated Driving’s Safety—The Risk-Free VAAFO Tool

   • Philipp Junietz, Walther Wachenfeld, Valerij Schönemann, Kai Domhardt, Wadim Tribelhorn, Hermann Winner

   Pages 47-65

5. Statistical Model Checking for Scenario-Based Verification of ADAS

   • Sebastian Gerwinn, Eike Möhlmann, Anja Sieper

   Pages 67-87

6. Game Theory-Based Traffic Modeling for Calibration of Automated Driving Algorithms

   • Nan Li, Mengxuan Zhang, Yildiray Yildiz, Ilya Kolmanovsky, Anouck Girard

   Pages 89-106

7. A Virtual Development and Evaluation Framework for ADAS—Case Study of a P-ACC in a Connected Environment

   • Harald Waschl, Roman Schmied, Daniel Reischl, Michael Stolz

   Pages 107-131

8. A Vehicle-in-the-Loop Emulation Platform for Demonstrating Intelligent Transportation Systems

   • Wynita Griggs, Rodrigo Ordóñez-Hurtado, Giovanni Russo, Robert Shorten

   Pages 133-154

9. Virtual Concept Development on the Example of a Motorway Chauffeur

   • G. Nestlinger, A. Rupp, P. Innerwinkler, H. Martin, M. Frischmann, J. Holzinger et al.

   Pages 155-174

10. Automation of Road Intersections Using Distributed Model Predictive Control

    • Alexander Katriniok, Peter Kleibaum, Martina Joševski

    Pages 175-199

11. MPDM: Multi-policy Decision-Making from Autonomous Driving to Social Robot Navigation

    • Alex G. Cunningham, Enric Galceran, Dhanvin Mehta, Gonzalo Ferrer, Ryan M. Eustice, Edwin Olson

    Pages 201-223

This book describes different methods that are relevant to the development and testing of control algorithms for advanced driver assistance systems (ADAS) and automated driving functions (ADF). These control algorithms need to respond safely, reliably and optimally in varying operating conditions. Also, vehicles have to comply with safety and emission legislation. 


The text describes how such control algorithms can be developed, tested and verified for use in real-world driving situations. Owing to the complex interaction of vehicles with the environment and different traffic participants, an almost infinite number of possible scenarios and situations that need to be considered may exist. The book explains new methods to address this complexity, with reference to human interaction modelling, various theoretical approaches to the definition of real-world scenarios, and with practically-oriented examples and contributions, to ensure efficient development and testing of ADAS and ADF. 


Control Strategies for Advanced Driver Assistance Systems and Autonomous Driving Functions is a collection of articles by international experts in the field representing theoretical and application-based points of view. As such, the methods and examples demonstrated in the book will be a valuable source of information for academic and industrial researchers, as well as for automotive companies and suppliers.

• Automotive Systems
• Verfication of Cyber-physical Systems
• Control System Design
• Intelligent Unmanned Driving
• Development of Advanced Driving Functions
• Control of Cyber-physical Systems
• Intelligent Transportation

• Institute for Design and Control of Mechatronical Systems, Johannes Kepler University Linz, Linz, Austria

  Harald Waschl

• Department of Aerospace Engineering, University of Michigan, Ann Arbor, USA

  Ilya Kolmanovsky

• Department of Mechanical Engineering, Eindhoven University of Technology, Eindhoven, The Netherlands

  Frank Willems

​Harald Waschl is Assistant Professor at the Johannes Kepler University Linz, where he is with the Institute for Design and Control of Mechatronical systems. He is working there in the field of optimal and model based control for automotive applications and testing of advanced driving functions.  

Ilya Kolmanovsky is a Professor of Aerospace Engineering at the University of Michigan with research interests in control applications to automotive and aerospace systems.  Prior to joining the University of Michigan, he has close to 15 years of industrial research experience in powertrain control at Ford Research and Advanced Engineering.

Frank Willems is a  Professor at Eindhoven University of Technology in the Mechanical Engineering, Control Systems Technology department. He is further a senior research scientist at TNO Automotive in Helmond in the Powertrains department.  

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