Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks

Autonomous-vehicle motion planners must resolve conflicts among safety, regulation, comfort, and efficiency in real time while exposing those decisions for audit. We present W-SQP, a weighted tiered-slack nonlinear model predictive controller (NMPC) that compiles nine driving-rule families into a fo...