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About this paper
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch, Ahmad Gazar, Nadja Klein, Joerg Reichardt, Javier Alonso-Mora
The method couples candidate-action-conditioned traffic prediction with risk-aware planning. It uses a sampling-based controller to test ego trajectories, generate responses from surrounding drivers, and score outcomes for progress and collision risk. In on-ramp simulations across 20 runs, its reported collision rate was 0%, versus 25% for a baseline, while mean merge time was longer; results are limited to simulator scenarios.
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