# Model Predictive Control of Soft Constraints for Autonomous Vehicle Major Lane-Changing Behavior With Time Variable Model

> Research article (IEEE Access, 2021) · cited 15× · AI/ML

**Wikidata**: [openalex:W3173607420](https://www.wikidata.org/wiki/openalex:W3173607420)  
**Source**: https://4ort.xyz/entity/model-predictive-control-of-soft-constraints-for-autonomous-vehicle-major-lane-changing-behavior-with-time-variable-mode