A time shift governor combined with MPC-CBF cruise control achieved 100% collision-free performance in 50 simulated dynamic-driving trials, versus 82% for the baseline controller.
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Time Shift Governor-Guided MPC with Collision Cone CBFs for Safe Adaptive Cruise Control in Dynamic Environments
A time shift governor combined with MPC-CBF cruise control achieved 100% collision-free performance in 50 simulated dynamic-driving trials, versus 82% for the baseline controller.