The invention provides bayesian global optimization-based parameter tuning for vehicle motion controllers. In one embodiment, a computer-implemented method for optimizing a controller of an autonomous driving vehicle (ADV) includes obtaining several samples, each sample having a set of parameters, iteratively performing, until a predetermined condition is satisfied: determining, for each sample, a score according to a configuration of the controller based on the set of parameters of the sample, applying a machine learning model to the samples and corresponding scores to determine a mean function and a variance function, producing a new sample as a minimum of a function of the mean function and the variance function with respect to an input space of the set of parameters, adding the new sample to the several samples, and outputting the new sample as an optimal sample, where parameters of the optimal sample are utilized to configure the controller to autonomously drive the ADV.

    本公开提供用于车辆运动控制器的基于贝叶斯全局优化的参数调谐。在一个实施例中,一种用于优化自主驾驶车辆(ADV)的控制器的方法,包括:获得数个样本,每个样本具有参数集合,迭代地执行以下操作直到满足预定条件:根据控制器基于样本的参数集合的配置,为每个样本确定分数;将机器学习模型应用到样本和相应分数,以确定均值函数和方差函数,产生新样本作为关于参数集合的输入空间的均值函数和方差函数的函数的最小值,以及将新样本添加到几个样本中;以及输出新样本作为最佳样本,其中最佳样本的参数被用于配置控制器以自主地驾驶ADV。


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    Titel :

    BAYESIAN GLOBAL OPTIMIZATION-BASED PARAMETER TUNING FOR VEHICLE MOTION CONTROLLERS


    Weitere Titelangaben:

    用于车辆运动控制器的基于贝叶斯全局优化的参数调谐


    Beteiligte:
    WANG YU (Autor:in) / LUO QI (Autor:in) / XU JIAXUAN (Autor:in) / ZHOU JINYUN (Autor:in) / JIANG SHU (Autor:in) / TAO JIAMING (Autor:in) / CAO YU (Autor:in) / LIN WEI-MAN (Autor:in) / XU KECHENG (Autor:in) / MIAO JINGHAO (Autor:in)

    Erscheinungsdatum :

    2021-10-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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