<> <http://www.w3.org/2000/01/rdf-schema#comment> "The repository administrator has not yet configured an RDF license."^^<http://www.w3.org/2001/XMLSchema#string> . <> <http://xmlns.com/foaf/0.1/primaryTopic> <https://discovery.ucl.ac.uk/id/eprint/10189766> . <https://discovery.ucl.ac.uk/id/eprint/10189766> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Article> . <https://discovery.ucl.ac.uk/id/eprint/10189766> <http://purl.org/dc/terms/title> "Game-Theoretic Model Predictive Control for Safety-Assured Autonomous Vehicle Overtaking in Mixed-Autonomy Environment"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10189766> <http://purl.org/ontology/bibo/abstract> "This work proposes a robust control strategy for an autonomous vehicle to overtake safely and comfortably a human-driven vehicle. The proposed scheme designs a collisionavoidance constraint setup that comprehensively coordinates dimension-based and velocity-dependent constraints to fulfil the safety criteria. A three-phase control framework is proposed for the overtaking task, subject to separate collision-avoidance constraints in lane changing, passing, and merging phases. Moreover, the proposed method utilises a Stackelberg game model to interactively involve the human-driven overtaken vehicle behaviours in the online optimisation loop. To further cope with uncertainties caused by the human driver, the optimisation is solved by a robust model predictive controller to guarantee the avoidance of collisions. Numerical case studies verify that the proposed framework is capable of overtaking not only a cooperative human-driven vehicle but also an uncooperative human-driven vehicle with safe and comfortable trajectories."^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10189766> <http://purl.org/dc/terms/date> "2024-07-01" . <https://discovery.ucl.ac.uk/id/document/1717650> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Document> . <https://discovery.ucl.ac.uk/id/org/ext-d43fc3bac18ed74fcec3769bce565502> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Organization> . <https://discovery.ucl.ac.uk/id/org/ext-d43fc3bac18ed74fcec3769bce565502> <http://xmlns.com/foaf/0.1/name> "Institute of Electrical and Electronics Engineers (IEEE)"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10189766> <http://purl.org/dc/terms/publisher> 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