M. Gamal

GL-TGS: Guarded Learning-Based Time-Gap Supervision for Adaptive MPC in Perception-in-the-Loop Autonomous Highway Driving

Adaptive cruise control (ACC) tracks a time-gap reference that trades efficiency against spacing safety; in practice this gap is fixed offline, although the safest choice depends on the closing speed and on the reliability of the perception that supplies the lead-vehicle state. We present GL-TGS-v2, a guarded, interpre...