Control of Evasive Manoeuvres for Automated Driving: Solving the Edge Cases

This thesis addresses the challenge of controlling automated vehicles performing evasive manoeuvres at the limit of handling. Special attention is paid to the development of nonlinear controllers, which can prioritise obstacle avoidance over path tracking objectives while considering vehicle stability constraints, to improve passenger safety. The thesis develops the entire pipeline for obstacle avoidance controllers, focusing on three aspects: vehicle state estimation, collision avoidance and control beyond the stable handling limits, e.g. drifting.