Areas of expertise
- Mechatronics & Advanced Controls
- On-Road Vehicle Dynamics
Background
Dr Velenis received his MSc and PhD degrees from the School of Aerospace Engineering at Georgia Institute of Technology, GA, USA in 2000 and 2006 respectively and his Mechanical Engineering Diploma from the Mechanical Engineering Department at the National Technical University of Athens in 1999. In 2006 he was awarded the Luther Long award for the best PhD dissertation in Engineering Mechanics at Georgia Institute of Technology. Following his PhD, Efstathios held a Post-doctoral researcher position at Georgia Institute of Technology and was a visiting researcher at Ford Motor Company in MI, USA.
Current activities
Dr Velenis is currently a Reader at the Advanced Vehicle Engineering Centre at Cranfield University. His research interests include vehicle dynamics and control, optimal, nonlinear, model predictive control, active chassis control, control of autonomous vehicles, vehicle limit handling, modelling of expert driving techniques.
Selected projects
Advanced Integrated Dynamics for Connected and Autonomous Vehicles (AIDCAV): Funded by Innovate UK through the CAV3 programme, Dr Velenis was the PI from Cranfield leading research on path following control of multi-actuated autonomous vehicles near the limit of handling (youtu.be/3cBPJrqIg5I).
Evoque_e: Funded by Innovate UK, Dr Velenis led Cranfield's work in the development and validation of regenerative braking and torque-vectoring controllers for electric and hybrid electric vehicles.
Active Limit Handling for Enhanced Passenger Vehicle Safety: Funded by EPSRC, Dr Velenis was the PI in this project which delivered a novel driver assist system to mitigate terminal understeer inspired by techniques used by expert human drivers (link).
Modelling and Implementation of Expert Driving Techniques: Dr Velenis was the PI in this FP7 Marie Curie International Re-integration Grant, where optimal control methods were used to model the specialised techniques developed by expert human drivers (link).
Publications
Articles In Journals
- Li B, Lin C, Ahmadi J, Siampis E, Longo S & Velenis E (2023) An integrated path-tracking and control allocation method for autonomous racing electric vehicles, Vehicle System Dynamics, Available online 08 August 2023.
- Papaioannou G, Htike Z, Lin C, Siampis E, Longo S & Velenis E (2022) Multi-criteria evaluation for sorting motion planner alternatives, Sensors, 22 (14) Article No. 5177.
- Htike Z, Papaioannou G, Siampis E, Velenis E & Longo S (2022) Fundamentals of motion planning for mitigating motion sickness in automated vehicles, IEEE Transactions on Vehicular Technology, 71 (3) 2375-2384.
- Zhang Z, Velenis E, Fotouhi A, Auger D & Cao D (2021) Driver distraction detection using machine learning algorithms: an experimental approach, International Journal of Vehicle Design, 83 (2-4) 122-139.
- Papaioannou G, Sekulic D, Velenis E & Antoniadis I (2021) Investigation of seat suspensions with embedded negative stiffness elements for isolating bus users’ whole-body vibrations, SAE Technical Papers Article No. 2021-01-5019.
- Stryszowski S, Longo S, D'Alessandro D, Velenis E, Forostovsky G & Manfredi S (2021) A framework for self-enforced optimal interaction between connected vehicles, IEEE Transactions on Intelligent Transportation Systems, 22 (10) 6152-6161.
- Xing Y, Lv C, Cao D & Velenis E (2021) Multi-scale driver behavior modeling based on deep spatial-temporal representation for intelligent vehicles, Transportation Research Part C: Emerging Technologies, 130 (September) Article No. 103288.
- Papaioannou G, Koulocheris D & Velenis E (2021) Skyhook control strategy for vehicle suspensions based on the distribution of the operational conditions, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Available online 27 March 2021 (10-11).
- Xing Y, Lv C, Wang H, Cao D & Velenis E (2020) An ensemble deep learning approach for driver lane change intention inference, Transportation Research Part C: Emerging Technologies, 115 (June) Article No. 102615.
- Xing Y, Lv C, Wang H, Cao D, Velenis E & Wang F-Y (2019) Driver activity recognition for intelligent vehicles: a deep learning approach, IEEE Transactions on Vehicular Technology, 68 (6) 5379-5390.
- Xing Y, Lv C, Wang H, Wang H, Ai Y, Cao D, Velenis E & Wang F-Y (2019) Driver lane change intention inference for intelligent vehicles: framework, survey, and challenges, IEEE Transactions on Vehicular Technology, 68 (5) 4377-4390.
- Diez DR, Velenis E, Tavernini D, Smith E, Siampis E & Soltani A (2019) Front/rear axle torque vectoring control for electric vehicles, Journal of Dynamic Systems, Measurement, and Control, 141 (6) Article No. DS-17-1303 061002-1-061002-12.
- Paul D, Velenis E, Humbert F, Cao D, Dobo T & Hegarty S (2019) Tyre-road friction μ-estimation based on braking force distribution, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 233 (8) 2030-2047.
- Smith E, Velenis E, Tavernini D & Cao D (2018) Effect of handling characteristics on minimum time cornering with torque vectoring, Vehicle System Dynamics, 56 (2) 221-248.
- Xing Y, Lv C, Wang H, Cao D, Velenis E & Wang F (2018) Advances in vision-based lane detection: algorithms, integration, assessment, and perspectives on ACP-based parallel vision, IEEE Caa Journal of Automatica Sinica, 5 (3) 645-661.
- Xing Y, Lv C, Wang H, Cao D & Velenis E (2018) Dynamic integration and online evaluation of vision-based lane detection algorithms, IET Intelligent Transport Systems, 13 (1) 55-62.
- Xing Y, Lv C, Zhang Z, Wang H, Na X, Cao D, Velenis E & Wang F-Y (2018) Identification and analysis of driver postures for in-vehicle driving activities and secondary tasks recognition, IEEE Transactions on Computational Social Systems, 5 (1) 95-108.
- Siampis E, Velenis E, Gariuolo S & Longo S (2018) A real-time nonlinear model predictive control strategy for stabilisation of an electric vehicle at the limits of handling, IEEE Transactions on Control Systems Technology, 26 (6) Article No. 8061009 1982-1994.
- Basrah MS, Siampis E, Velenis E, Cao DP & Longo S (2017) Wheel slip control with torque blending using linear and nonlinear model predictive control, Vehicle System Dynamics, 55 (11) 1665-1685.
- Paul D, Velenis E, Cao D & Dobo T (2017) Optimal μ-estimation based regenerative braking strategy for an AWD HEV, IEEE Transactions on Transportation Electrification, 3 (1) 249-258.
- Martinez CM, Hu X, Cao D, Velenis E, Gao B & Wellers M (2017) Energy management in plug-in hybrid electric vehicles: recent progress and a connected vehicles perspective, IEEE Transactions on Vehicular Technology, 66 (6) 4534-4549.
- Tavernini D, Velenis E & Longo S (2017) Feedback brake distribution control for minimum pitch, Vehicle System Dynamics, 55 (6) 902-923.
- Kampanakis A, Siampis E, Velenis E & Longo S (2016) A torque vectoring optimal control strategy for combined vehicle dynamics performance enhancement and electric motor ageing minimisation, IFAC-PapersOnLine, 49 (1) 412-417.
- Siampis E, Velenis E & Longo S (2015) Rear wheel torque vectoring model predictive control with velocity regulation for electric vehicles, Vehicle System Dynamics, 53 (11) 1555-1579.
- Tremlett A, Massaro M, Purdy D, Velenis E, Assadian F, Moore A & Halley M. (2015) Optimal control of motorsport differentials, Vehicle System Dynamics, 53 (12) 1772-1794.
- Katzourakis D, Velenis E, Holweg E & Happee R (2014) Haptic steering support for driving near the vehicle’s handling limits: test-track case, IEEE Transactions on Intelligent Transportation Systems, 15 (4) Article No. 6819434 1781-1789.
- Katzourakis DI, Velenis E, Holweg E & Happee R (2014) Haptic steering support for driving near the vehicle's handling limits; skid-pad case, International Journal of Automotive Technology, 15 (1) 151-163.
- Tavernini D, Velenis E, Lot R & Massaro M (2014) The optimality of the handbrake cornering technique, Journal of Dynamic Systems, Measurement, and Control, 136 (4) Article No. 041019 1-11.
- Katzourakis DI, Abbink DA, Velenis E, Holweg E & Happee R (2013) Driver's arms' time-variant neuromuscular admittance during real car test-track driving, IEEE Transactions on Instrumentation and Measurement, 63 (1) 221-230.
- Katzourakis D, Abbink D, Velenis E, Holweg E & Happee R (2013) Driver's arms' time-variant neuromuscular admittance during real car test-track driving, IEEE Transactions on Instrumentation and Measurement, 63 (1) 221-230.
- Tavernini D, Massaro M, Velenis E, Katzourakis DI & Lot R (2013) Minimum time cornering: the effect of road surface and car transmission layout, Vehicle System Dynamics, 51 (10) 1533-1547.
- Katzourakis DI, Velenis E, Abbink D, Happee R & Holweg E (2012) Race-car instrumentation for driving behavior studies, IEEE Transactions on Instrumentation and Measurement, 61 (2) 462-474.
- Velenis E, Katzourakis D, Frazzoli E, Tsiotras P & Happee R (2011) Steady-state drifting stabilization of RWD vehicles, Control Engineering Practice, 19 (11) 1363-1376.
- Velenis E, Frazzoli E & Tsiotras P (2010) Steady-state cornering equilibria and stabilisation for a vehicle during extreme operating conditions, International Journal of Vehicle Autonomous Systems, 8 (2/3/4) 217-241.
- Velenis E & Tsiotras P (2008) Minimum-time travel for a vehicle with acceleration limits: Theoretical analysis and receding-horizon implementation, Journal of Optimization Theory and Applications, 138 (2) 275-296.
- Velenis E, Tsiotras P & Lu J (2008) Optimality properties and driver input parameterization for trail-braking cornering, European Journal of Control, 14 (4) 308-320.
- Velenis E, Tsiotras P, Canudas-De-Wit C & Sorine M (2005) Dynamic tyre friction models for combined longitudinal and lateral vehicle motion, Vehicle System Dynamics, 43 (1) 3-29.
- Tsiotras P, Velenis E & Sorine M (2004) A LuGre tire friction model with exact aggregate dynamics, Vehicle System Dynamics, 42 (3) 195-210.
- Kim B, Velenis E, Kriengsiri P & Tsiotras P (2003) Designing a low-cost spacecraft simulator, Control Systems Magazine, 23 (4) 26-37.
- Canudas-de-Wit C, Tsiotras P, Velenis E, Basset M & Gissinger G (2003) Dynamic friction models for road/tire longitudinal interaction, Vehicle System Dynamics, 39 (3) 189-226.
Conference Papers
- Lin C, Siampis E & Velenis E (2022) Real-time path-tracking MPC for an over-actuated autonomous electric vehicle. In: 2022 American Control Conference (ACC), Atlanta, 8-10 June 2022.
- Li B, Lin C, Siampis E, Longo S & Velenis E (2021) Integrated Path-tracking and Control Allocation Controller for Autonomous Electric Vehicle under Limit Handling Condition. In: 2020 IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, 19 October - 13 November 2020.
- Htike Z, Papaioannou G, Siampis E, Velenis E & Longo S (2021) Minimisation of Motion Sickness in Autonomous Vehicles. In: 2020 IEEE Intelligent Vehicles Symposium (IV), Las Vegas, NV, 19 October - 13 November 2020.
- Yang X, Lv C, Cao D, Velenis E & Wang F (2018) End-to-end driving activities and secondary tasks recognition using deep convolutional neural network and transfer learning. In: 2018 IEEE Intelligent Vehicles Symposium (IV), Changshu, Suzhou, 26-30 June 2018.
- Chang C-W, Lv C, Wang H, Wang H, Cao D, Velenis E & Wang F-Y (2018) Multi-point turn decision making framework for human-like automated driving. In: IEEE 20th International Conference on Intelligent Transportation Systems (ITSC), 2017, Yokohama, 16-19 October 2017.
- Stryszowski M, Longo S, Velenis E & Shah RM (2018) Energy and time-optimal connected autonomous vehicle interaction: cruising and overtaking. In: 2018 European Control Conference, Limassol, 12-15 June 2018.
- Filipozzi L, Velenis E & Assadian F (2018) Minimization of steering corruption during front axle torque. In: 18th European Control Conference 2018, (ECC18), Limassol, 12-15 June 2018.
- Zarkadis K, Velenis E, Siampis E & Longo S (2018) Predictive torque vectoring control with active trail-braking. In: 18th European Control Conference 2018, (ECC18), Limassol, 12-15 June 2018.
- Basrah MS, Siampis E, Velenis E, Cao D & Longo S (2016) Integration of torque blending and slip control using real-time nonlinear model predictive control. In: 13th International Symposium on Advanced Vehicle Control, AVEC'16, Munich, 13-16 September 2016.
- Smith EN, Tavernini D, Velenis E & Cao D (2016) Evaluation of optimal yaw rate reference for closed-loop electric vehicle torque vectoring. In: 13th International Symposium on Advanced Vehicle Control, AVEC'16, Munich, 13-16 September 2016.
- Siampis E, Velenis E & Longo S (2016) Front-to-rear torque vectoring Model Predictive Control for terminal understeer mitigation. In: 24th Symposium of the International Association for Vehicle System Dynamics, Graz, 17-21 August 2015.
- Tavernini D, Velenis E & Assadian F (2016) Active brake force distribution for pitch angle minimisation. In: 24th Symposium of the International Association for Vehicle System Dynamics, Graz, 17-21 August 2015.
- Basrah MS, Velenis E & Cao D (2016) Four wheel torque blending for slip control in a hybrid vehicle with a single electric machine. In: 3rd International Conference on Sustainable Energy Engineering and Application, Bandung, 5-7 October 2015.
- Paul D, Velenis E & Cao D (2016) Tire-road friction estimation based braking force distribution for AWD electrified vehicles with a single electric machine. In: 3rd International Conference on Sustainable Energy Engineering and Application, Bandung, 5-7 October 2015.
- Tavernini D, Velenis E & Longo S (2016) Model-based active brake force distribution for pitch angle minimization. In: 2015 IEEE 54th Annual Conference on Decision and Control (CDC), Osaka, 15-18 December 2015.
- Siampis E, Velenis E & Longo S (2016) Predictive rear wheel torque vectoring control with terminal understeer mitigation using nonlinear estimation. In: 2015 IEEE 54th Annual Conference on Decision and Control (CDC), Osaka, 15-18 December 2015.
- Siampis E, Velenis E & Longo S (2015) Model Predictive torque vectoring control for electric vehicles near the limits of handling. In: 2015 European Control Conference, ECC 2015, Linz, 15-17 July 2015.
- Balakrishnnan VK, Longo S, Velenis E & Barber P (2014) Sensor configurations and testbed for vehicle state estimation. In: UKACC International Conference on Control (CONTROL 2014), Loughborough, 9-11 July 2014.
- Siampis E, Massaro M & Velenis E (2013) Electric rear axle torque vectoring for combined yaw stability and velocity control near the limit of handling. In: 52nd IEEE Decision and Control and European Control Conference, Florence, 10-13 December 2013.
- Tavernini D, Velenis E, Lot R & Massaro M (2013) On the optimality of handbrake cornering. In: 52nd IEEE Decision and Control and European Control Conference, Florence, 10-13 December 2013.
- Katzourakis D, Velenis, E, Holweg E & Happee R (2012) Haptic steering support when driving at the tires’ cornering limits. In: 11th International Symposium on Advanced Vehicle Control, Seoul, 9-12 September 2012.
- Katzourakis D, Happee R, Holweg E & Velenis E (2012) Haptic steering support in extreme steering. In: 1st International Conference on Human Factors in Transportation / 4th International Conference on Applied Human Factors and Ergonomics, San Francisco, 21-25 July 2012.
- Velenis E (2011) FWD vehicle drifting control: The handbrake-cornering technique. In: 50th IEEE Decision and Control and European Control Conference, 2011, Orlando, 12-15 December 2011.
- Velenis E, Frazzoli E & Tsiotras P (2009) On steady-state cornering equilibria for wheeled vehicles with drift. In: 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, 15-18 December 2009.
- Jain S, Tsiotras P & Velenis E (2008) Optimal feedback velocity profile generation for a vehicle with given acceleration limits: a level set implementation. In: 16th Mediterranean Conference on Control and Automation, Ajaccio, 25-27 June 2008.
- Velenis E, Tsiotras P & Lu J (2007) Aggressive maneuvers on loose surfaces: Data analysis and input parametrization. In: 2007 Mediterranean Conference on Control and Automation (MED2007), Athens, 27-29 June 2007.
- Velenis E & Tsiotras P (2005) Optimal velocity profile generation for given acceleration limits: Theoretical analysis. In: 2005 American Control Conference, Portland, Oregon, 8-10 June 2005.
- Velenis E & Tsiotras P (2005) Optimal velocity profile generation for given acceleration limits: Receding horizon implementation. In: 2005 American Control Conference, Portland, Oregon, 8-10 June 2005.
- Tsiotras P, Velenis E & Sorine M (2004) A LuGre tire friction model with exact aggregate dynamics. In: 2004 American Control Conference (AAC), Boston, MA, 30 June - 2 July 2004.
- Canudas-de-Wit C, Tsiotras P, Velenis E, Basset M & Gissinger G (2002) Dynamic friction models for longitudinal road/tire interaction: experimental results. In: 21st IASTED Conference on Modeling, Identification and Control, Innsbruck, 18-21 February 2002.
- Canudas-de-Wit C, Tsiotras P & Velenis E (2002) Dynamic friction models for longitudinal road/tire interaction: theoretical advances. In: 21st IASTED Conference on Modeling, Identification and Control, Innsbruck, 18-21 February 2002.
- Velenis E, Tsiotras P & Canudas-de-Wit C (2002) Extension of the LuGre dynamic tire friction model to 2D-motion. In: 10th Mediterranean Conference on Control and Automation, Lisbon, 9-12 July 2002.
- Kim B, Velenis E, Kriengsiri P & Tsiotras P (2001) A spacecraft simulator for research and education. In: AAS/AIAA Astrodynamics Conference, Quebec City, 30 July - 2 August 2001.
- Tsiotras P & Velenis E (2000) Low-bias control of AMB's subject to saturation constraints. In: IEEE Conference on Control Applications, Anchorage, Alaska, 25-27 September 2000.
- Velenis E & Tsiotras P Minimum time vs. maximum exit velocity path optimization during cornering. In: IEEE International Symposium on Industrial Electronics (ISIE 2005), Dubrovnik, 20-23 June 2005.
- Velenis E & Tsiotras P Optimal velocity profile generation for given acceleration limits: the half-car model case. In: 2005 IEEE International Symposium on Industrial Electronics, ISIE 2005, Dubrovnik, 20-23 June 2005.
- Velenis E, Tsiotras P & Lu J Modeling aggressive maneuvers on loose surfaces: the cases of trail-braking and pendulum-turn. In: 9th European Control Conference, ECC 2007, Kos, 2-5 July 2007.
- Velenis E, Tsiotras P & Lu J Trail-braking driver input parameterization for general corner geometry. In: SAE Motorsports Engineering Conference, Concord, NC, 2-4 December 2008.
- Katzourakis D, Velenis E & Happee R Driver control actions in high speed circular driving. In: 6th International Driving Symposium on Human Factors in Driver Assessment, Training and Vehicle Design, Lake Tahoe, 27-30 June 2011.
- Martinez CM, Velenis E, Tavernini D, Gao B & Wellers M Modelling and estimation of friction brake torque for a brake by wire system. In: 2014 IEEE International Electric Vehicle Conference (IEVC), Florence, 17-19 December 2014.
- Smith EN, Tavernini D, Claret C, Velenis E & Cao E Optimal yaw-rate target for electric vehicle torque vectoring system. In: 24th Symposium of the International Association for Vehicle System Dynamics, Graz, 17-21 August 2015.
