Amr E. Mohamed

Hierarchical Adaptive MPC for Autonomous Vehicle Lane Changing via PSO and GWO

This paper presents an intelligent hierarchical two-layer highway lane-change planning and control framework for autonomous vehicles, integrating Adaptive Model Predictive Control (AMPC) with metaheuristic-based parameter optimization algorithms, namely Particle Swarm Optimization (PSO) and Grey Wolf Optimizer (GWO). I...