Preprint
Aug 2026
A Hybrid End-to-End and Modular Control Architecture Toward Safe Vehicle Lateral Control: Combining Soft Actor-Critic with Model Predictive Control
Connected and automated vehicles demand lateral controllers that are simultaneously accurate, low-effort, and safe under model error and sensor noise. Modular controllers such as model predictive control (MPC) are interpretable and constraint-aware but rely on accurate models and hand-tuned weights. End-to-end learned...
Farzaneh Tatari
· 0 citations