{"id":2156,"date":"2023-10-16T17:26:48","date_gmt":"2023-10-16T17:26:48","guid":{"rendered":"https:\/\/elo-x.eu\/?p=2156"},"modified":"2023-10-16T17:26:51","modified_gmt":"2023-10-16T17:26:51","slug":"learning-enhanced-model-predictive-control-for-autonomous-driving","status":"publish","type":"post","link":"https:\/\/elo-x.eu\/?p=2156","title":{"rendered":"Learning-enhanced Model Predictive Control for Autonomous Driving"},"content":{"rendered":"\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\n\t\t
\n\n\t\t\t\t\t\t\t\t

\n\t\t\t\t\t\t\t\t\n\t\t\t\tLearning-enhanced Model Predictive Control for Autonomous Driving \n\t\t\t<\/h2 > \n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t\t

Rudolf Reiter, SYSCOP Laboratory, University of Freiburg<\/span><\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t\t

Nonlinear model predictive control is a well established technology for local trajectory planning and control in autonomous driving applications. Increased complexity occurs in racing scenarios that involve strategic decision making or multi-lane traffic scenarios, which involve combinatorial choices, such as lane changes or overtaking decisions. Derivative-based local optimization fails in this scenarios. Therefore, learning-enhanced formulations combined with mixed integer optimizations are introduced and examined as a promising technology with an advanced performance.<\/p>

\u00a0<\/p>

The work can be clustered in three main fields:<\/p>

\u00a0<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t\t
  1. Numerical efficient formulations for Nonlinear Model Predictive Control in autonomous driving.<\/li>
  2. Dealing with the combinatorial complexity by either an efficient formulation or using novel neural network architectures that enhances the algorithm of combinatorial mixed-integer solvers.<\/li>
  3. Dealing with the complexity of strategic decision making by including reinforcement learning as a high level decision maker and inverse optimal control as state estimator.<\/li><\/ol>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t
    \n\t\t\t\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t

    Numerical efficient formulations for Nonlinear Model Predictive Control in autonomous driving<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t

    As an essential basis of this work, an efficient nonlinear model predictive controller formulation is required. The work focuses on the representation in a curvilienar Frenet coordiante frame and the representation of moving obstacles in order to achieve high performance applications.<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\"\"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t
    \n\t\t\t\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t

    Efficient Mixed-Integer Formulations and Machine Learning for Combinatorial Optimization<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t

    Coming soon…<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\"\"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t
    \n\t\t\t\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t

    Strategic Decision Making by Inverse Optimal Control and Reinforcement Learning<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t\t
    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t

    Coming soon…<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t

    \n\t\t\t
    \n\t\t\t\t\t\t
    \n\t\t\t\t
    \n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\"\"\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

    February 5th to 9th, 2023, Milano, Italy<\/p>\n","protected":false},"author":15,"featured_media":2047,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"elementor_header_footer","format":"standard","meta":{"footnotes":""},"categories":[22],"tags":[],"class_list":["post-2156","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-projects"],"_links":{"self":[{"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/posts\/2156","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/users\/15"}],"replies":[{"embeddable":true,"href":"https:\/\/elo-x.eu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2156"}],"version-history":[{"count":3,"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/posts\/2156\/revisions"}],"predecessor-version":[{"id":2162,"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/posts\/2156\/revisions\/2162"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/elo-x.eu\/index.php?rest_route=\/wp\/v2\/media\/2047"}],"wp:attachment":[{"href":"https:\/\/elo-x.eu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2156"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elo-x.eu\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2156"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elo-x.eu\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2156"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}