 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. The strategy also informs switching from the SG-OBCA control policy to a safety or emergency control policy .
<clarity>  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. The strategy also informs switching from the SG-OBCA control policy to a safety or emergency control policy .
 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 . These strategy-dependent constraints drive the vehicle towards areas where it is likely to remain feasible. Moreover, the predicted strategy also informs switching from the SG-OBCA control policy to a safety or emergency control policy .