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.


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    Title :

    SAFE AGILE HAZARD AVOIDANCE SYSTEM FOR AUTONOMOUS VEHICLES


    Contributors:
    ARAB ALIASGHAR (author) / YI JINGANG (author)

    Publication date :

    2024-01-04


    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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