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Hierarchical event-triggered control for multi-vehicle collaborative driving with efficient and safe interaction
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DOI：10.1016/j.conengprac.2026.107119.png)
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Abstract
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• Hierarchical framework for multi-vehicle coordination, decoupling priority assignment from trajectory planning. • An iterative slack-variable algorithm solves the mixed-integer priority problem with low computational cost. • Dual-layer event-triggered mechanisms reduce computational load by over 80% compared to periodic execution. • The approach improves average speed and reduces delays while ensuring interactive safety.
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