It is however desirable for AVs to have long prediction, hundreds meters or more like sensor/map ranges, so that it can plan well in advance when avoiding collision, approaching intersections/roundabout,… and optimize vehicle performance, energy consumption altogether.
We developed an MPC to ensure safety within an infinite horizon formally using control barrier function (CBF). With long road prediction in mind, the car can enhance comfort driving as well, i.e. smooth rather than sudden acceleration/ braking.
Please check here (https://lnkd.in/d5QpUzh) the paper for detail. And a short comparison video :) .