An adaptive risk-field-plus-MPC controller with a sigmoid evolution factor and TTC/TWH-based risk ellipses is claimed to achieve collision-free overtaking and lane changes in simulation.
Game theoretic application to intersection management: A literature review,
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Adaptive Evolution Factor Risk Ellipse Framework for Reliable and Safe Autonomous Driving
An adaptive risk-field-plus-MPC controller with a sigmoid evolution factor and TTC/TWH-based risk ellipses is claimed to achieve collision-free overtaking and lane changes in simulation.