Open access
Aug 2026
A Hybrid DDPG+MPC Framework for Safe and Efficient Autonomous Lane-Changing in Highway Overtaking
Lane-changing decision-making is a critical component of autonomous driving, as it requires balancing safety, efficiency, and manoeuvre stability under dynamic traffic conditions. This study proposes a hybrid Deep Deterministic Policy Gradient (DDPG) framework with an MPC-inspired predictive safety layer for autonomous...
A. Khaleel, Áron Ballagi
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