== Abstract ==

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International audience; Semi-autonomous driving assistance systems have a high potential to improve the safety and efficiency of the battery electric vehicles that are enduring limited cruising range. This paper presents an ecologically advanced driver assistance system to extend the functionality of the adaptive cruise control system. A real-time stochastic non-linear model predictive controller with probabilistic constraints is presented to compute on-line the safe and energy-efficient cruising velocity profile. The individual chance-constraint is reformulated into a convex second-order cone constraint which is robust for a general class of probability distributions. Finally, the performance of proposed approach in terms of states regulation, constraints fulfilment, and energy efficiency is evaluated on a battery electric vehicle.

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== Original document ==

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The different versions of the original document can be found in:

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* [http://orbilu.uni.lu/handle/10993/31798 http://orbilu.uni.lu/handle/10993/31798] under the license https://creativecommons.org/licenses/by-nc-sa

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* [https://hal.archives-ouvertes.fr/hal-01643970 https://hal.archives-ouvertes.fr/hal-01643970]

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* [https://orbilu.uni.lu/bitstream/10993/31798/1/ICVES_sedas_reviewed.pdf https://orbilu.uni.lu/bitstream/10993/31798/1/ICVES_sedas_reviewed.pdf]

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* [http://xplorestaging.ieee.org/ielx7/7983015/7991891/07991907.pdf?arnumber=7991907 http://xplorestaging.ieee.org/ielx7/7983015/7991891/07991907.pdf?arnumber=7991907],

: [http://dx.doi.org/10.1109/icves.2017.7991907 http://dx.doi.org/10.1109/icves.2017.7991907] under the license cc-by-nc-sa

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* [https://orbilu.uni.lu/bitstream/10993/31798/1/ICVES_sedas_reviewed.pdf https://orbilu.uni.lu/bitstream/10993/31798/1/ICVES_sedas_reviewed.pdf],

: [https://orbilu.uni.lu/handle/10993/31798 https://orbilu.uni.lu/handle/10993/31798],

: [https://ieeexplore.ieee.org/document/7991907 https://ieeexplore.ieee.org/document/7991907],

: [https://dblp.uni-trier.de/db/conf/icves/icves2017.html#Sajadi-Alamdari17 https://dblp.uni-trier.de/db/conf/icves/icves2017.html#Sajadi-Alamdari17],

: [https://hal.archives-ouvertes.fr/hal-01643970 https://hal.archives-ouvertes.fr/hal-01643970],

: [https://publications.uni.lu/handle/10993/31798 https://publications.uni.lu/handle/10993/31798],

: [https://academic.microsoft.com/#/detail/2737349330 https://academic.microsoft.com/#/detail/2737349330]

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