2 papers
eess.SY2024
An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors
Luyao Zhang, George Pantazis, Shaohang Han +1
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules…
eess.SY2023
Automated Lane Merging via Game Theory and Branch Model Predictive Control
Luyao Zhang, Shaohang Han, Sergio Grammatico
We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle…