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This paper considers the vehicle control process in emergency lane change (ELC). The control method is divided into two parts: before crossing the obstacle and after crossing it. The first part is done by a feed-forward controller inspired by the driver's behavior pattern in the ELC maneuver. This controller is compensated by a neural network system and two proportional-integral (PI) and proportional-derivative (PD) controllers, which correct the output of the feed-forward controller to follow the path more accurately. The second part consists of two PD controllers responsible for controlling and steering the vehicle in the main path after crossing the obstacle. The main novelty of the proposed method is that the computational burden is low because of using a feed-forward controller, which is the main source of the calculation's burden. So as a result, the controller system can cover the ELC maneuver in under 2 seconds in various lateral displacements to bypass the obstacle and prevent collisions. The co-simulations are performed in CarSim software and MATLAB/Simulink, which shows that the control system can appropriately steer the vehicle and follow the desired at different speeds, in the presence of road friction and parameter uncertainty. [ABSTRACT FROM AUTHOR]

Background: The presence of antiretroviral-resistant human immunodeficiency virus (HIV)-1 genetic variants in patients with late presentation to health care may impact the success of antiretroviral therapy (ART), costs of care, and potential HIV transmission. Aim: To determine the prevalence of pre-treatment HIV-1 drug resistance to antiretrovirals (pre-treatment HIV-1 drug resistance (PDR)) in Cuban patients classified as late presenters (LPs). Methods: A retrospective cross-sectional study was carried out on 255 HIV-positive Cubans classified as LP (CD4+ T cell count ≤ 350 cells/mm3) and included in PDR surveillance studies in Cuba during the period 2009--2020. The viral subtype and the genotypic profile of antiretroviral resistance were analyzed. Some clinical and epidemiological variables were evaluated. Results: 83.2% of the patients were male and 65.9% were men who had sex with other men. The average age was 31 years. 40% of the individuals studied had advanced disease (CD4+ T cell count ≤200 cells/mm3). The predominant genetic variants were subtype B (29.4%); CRF20, 23, 24_BG (24.3%), and CRF19_cpx (22.4%). The prevalence of pre-treatment HIV-1 drug resistance (PDR) was 21.2% (95%, CI 16.3-26.7). The prevalence was 8.2% (95%, CI 5.3-11.9) for any nucleoside reverse transcriptase inhibitor (NRTI), 15.1% (95%, CI 11.2-19.7) for any non-NRTI (NNRTI), and 2.1% (95%, CI 0.75-4.41) for any protease inhibitor (PI). 9.25% of the LPs with PDR died a year after diagnosis of the HIV infection. The most frequent mutations were K103N (6.7%), G190A (4.7%), and M184V (4.3%). The treatment will not be effective in 17.3% of patients who start therapy with the NRTI + NNRTI combinations. Conclusion: The high PDR values in LPs show the need to enhance genotypic studies of HIV resistance in this population at the time of diagnosis of the infection, since the success of first-line ART may be compromised and influence compliance with the global goals set forth by United nations acquired immunodeficiency syndrome for the year 2030. [ABSTRACT FROM AUTHOR]