Before revision:  Depending on the online selected strategy, a set of time-varying hyperplanes in the AV's motion space is generated and included in the lower level control. The latter is a Strategy-Guided Optimization-Based Collision Avoidance (SG-OBCA) algorithm where the strategy-dependent hyperplane constraints are used to drive a model-based receding horizon controller towards a predicted feasiblearea.
After revision:  Depending on the online selected strategy, a set of time-varying hyperplanes in the AV's motion space is generated online and the corresponding halfspace constraints are included in a lower-level model-based receding horizon controller towards a predicted feasiblearea.