In one embodiment, a control command is generated with an MPC controller, the MPC controller including a cost function with weights associated with cost terms of the cost function. The control command is applied to a dynamic model of an autonomous driving vehicle (ADV) to simulate behavior of the ADV. One or more of the weights are based on evaluation of the dynamic model in response to the control command, resulting in an adjusted cost function of the MPC controller. Another control command is generated with the MPC controller having the adjusted cost function. This second control command can be used to effect movement of the ADV.


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    Title :

    LEARNING BASED CONTROLLER FOR AUTONOMOUS DRIVING


    Contributors:
    JIANG SHU (author) / LUO QI (author) / MIAO JINGHAO (author) / HU JIANGTAO (author) / WANG YU (author) / ZHOU JINYUN (author) / TAO JIAMING (author) / XU KECHENG (author)

    Publication date :

    2021-09-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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