A hierarchical model predictive control framework for autonomous ground vehicles. Falcone, P., Borrelli, F., Tseng, H E., Asgari, J., & Hrovat, D. In 2008 American Control Conference, pages 3719--3724, 2008. IEEE.
bibtex   
@INPROCEEDINGS{falcone2008hierarchical,
  author = {Falcone, Paolo and Borrelli, Francesco and Tseng, H Eric and Asgari,
	Jahan and Hrovat, Davor},
  title = {A hierarchical model predictive control framework for autonomous
	ground vehicles},
  booktitle = {2008 American Control Conference},
  year = {2008},
  pages = {3719--3724},
  organization = {IEEE}
}
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