Integrates a dynamic hazard field into QP-MPC trajectory planning and reports smoother, safer lane changes, overtaking, and intersection crossings in simulation.
Forces nlp: An efficient implementation of interior-point methods for multistage nonlinear nonconvex programs,
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A Risk-aware Spatial-temporal Trajectory Planning Framework for Autonomous Vehicles Using QP-MPC and Dynamic Hazard Fields
Integrates a dynamic hazard field into QP-MPC trajectory planning and reports smoother, safer lane changes, overtaking, and intersection crossings in simulation.