# Optimization-based Tactical Behavior Planning for Autonomous Freeway Driving in Favor of the Traffic Flow

> Research article (2019 IEEE Intelligent Vehicles Symposium (IV), 2019) · cited 13× · AI/ML

**Wikidata**: [openalex:W2970739352](https://www.wikidata.org/wiki/openalex:W2970739352)  
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