تقرير
Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions
| العنوان: | Stochastic MPC with Dual Control for Autonomous Driving with Multi-Modal Interaction-Aware Predictions |
|---|---|
| المؤلفون: | Nair, Siddharth H., Govindarajan, Vijay, Lin, Theresa, Wang, Yan, Tseng, Eric H., Borrelli, Francesco |
| سنة النشر: | 2022 |
| المجموعة: | Computer Science Mathematics |
| مصطلحات موضوعية: | Electrical Engineering and Systems Science - Systems and Control, Mathematics - Optimization and Control |
| الوصف: | We propose a Stochastic MPC (SMPC) approach for autonomous driving which incorporates multi-modal, interaction-aware predictions of surrounding vehicles. For each mode, vehicle motion predictions are obtained by a control model described using a basis of fixed features with unknown weights. The proposed SMPC formulation finds optimal controls which serves two purposes: 1) reducing conservatism of the SMPC by optimizing over parameterized control laws and 2) prediction and estimation of feature weights used in interaction-aware modeling using Kalman filtering. The proposed approach is demonstrated on a longitudinal control example, with uncertainties in predictions of the autonomous and surrounding vehicles. Comment: Accepted to AVEC'22 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2208.03525 |
| رقم الأكسشن: | edsarx.2208.03525 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |