{"paper":{"title":"Situation-Aware Feedback-Predictive Control Framework for Lane-Less Dense Traffic","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"A hybrid control framework uses 360° perception to derive virtual lanes and predict trajectories for safe navigation in dense lane-less traffic.","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Debraj Chakraborty, Parthib Khound","submitted_at":"2026-04-14T11:15:51Z","abstract_excerpt":"Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid control framework tailored for such environments, integrating a $360^\\circ$ zone-based perception module with a dual-layer control strategy that combines classical feedback and predictive optimization. The longitudinal feedback controller computes reference speed based on braking distance and steering dynamics, while the lateral controller tracks a virtual optimal"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"Simulation results across diverse one-way traffic scenarios demonstrate the framework's robustness, responsiveness, and suitability for chaotic, unstructured traffic.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"The 360° zone-based perception module provides reliable spatial distribution data on neighboring vehicles even in highly unpredictable driver behavior and dense conditions.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"A situation-aware hybrid feedback-predictive controller enables autonomous navigation in dense unstructured traffic by deriving reference speeds from braking distances and tracking virtual lanes from vehicle distributions.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"A hybrid control framework uses 360° perception to derive virtual lanes and predict trajectories for safe navigation in dense lane-less traffic.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"f54c6c04fcfadd3bbc5a5a925705aeb88e2266f33aedf98edf51f7f1e3b8dc98"},"source":{"id":"2604.12590","kind":"arxiv","version":1},"verdict":{"id":"50be3cd2-99a4-4a9f-8337-273bfa89dfd5","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-10T14:49:17.053119Z","strongest_claim":"Simulation results across diverse one-way traffic scenarios demonstrate the framework's robustness, responsiveness, and suitability for chaotic, unstructured traffic.","one_line_summary":"A situation-aware hybrid feedback-predictive controller enables autonomous navigation in dense unstructured traffic by deriving reference speeds from braking distances and tracking virtual lanes from vehicle distributions.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"The 360° zone-based perception module provides reliable spatial distribution data on neighboring vehicles even in highly unpredictable driver behavior and dense conditions.","pith_extraction_headline":"A hybrid control framework uses 360° perception to derive virtual lanes and predict trajectories for safe navigation in dense lane-less traffic."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2604.12590/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":16,"sample":[{"doi":"","year":2022,"title":"On the road safety benefits of advanced driver assistance systems in different driving contexts,","work_id":"3dfffda2-6267-43d7-9596-1f2ebf15387a","ref_index":1,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2012,"title":"Rajamani,Vehicle dynamics and control","work_id":"1ee9adaa-1fd2-490d-bef4-7596b15b2ed7","ref_index":2,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2023,"title":"Unified framework for over-damped string stable adaptive cruise control systems,","work_id":"d2814d48-18c4-4106-8338-03bddc434b02","ref_index":3,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2018,"title":"Flexible car–following mod- els for mixed traffic and weak lane–discipline conditions,","work_id":"9c9fb5de-6b09-4d02-81eb-4d096f0dee1e","ref_index":4,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2019,"title":"A microscopic model for lane-less traffic,","work_id":"bdc572a0-2013-481b-8a6d-d401b9879dfb","ref_index":5,"cited_arxiv_id":"","is_internal_anchor":false}],"resolved_work":16,"snapshot_sha256":"2c0ba672743ca85fb6ecd354a8d5a27c521293408564a6806e0ecd915167b988","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}