# Overtaking decision and trajectory planning in highway via hierarchical architecture of conditional state machine and chance constrained model predictive control

> Research article (Robotics and Autonomous Systems, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4205284853](https://www.wikidata.org/wiki/openalex:W4205284853)  
**Source**: https://4ort.xyz/entity/overtaking-decision-and-trajectory-planning-in-highway-via-hierarchical-architecture-of-conditional-state-machine-and-ch