Techniques disclosed herein relate to applying a trained constrained Markov decision process (CMDP) to control an autonomous vehicle to perform a stunt maneuver, such as a J-turn, in a safe and agile manner. The CMDP may implement a set of fuzzy logic instructions that correspond to actions needed to execute the stunt maneuver. While training the CMDP, the techniques disclosed herein may utilize a dynamic model of the autonomous vehicle that includes a model of the uncertainty introduced when implementing the stunt maneuver, such as the uncertainty in the tire-road mechanics. By utilizing a worst case scenario measure of the uncertainty during training, safe performance of the stunt maneuver is guaranteed when the trained model is applied in the real world.
SAFE AGILE HAZARD AVOIDANCE SYSTEM FOR AUTONOMOUS VEHICLES
2024-01-04
Patent
Electronic Resource
English
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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