We propose a Stochastic MPC (SMPC) formu-lation for autonomous driving at traffic intersections which incorporates multi-modal predictions of surrounding vehicles given by Gaussian Mixture Models (GMM) for collision avoid-ance constraints. Our main theoretical contribution is a SMPC formulation that optimizes over a novel feedback policy class designed to exploit additional structure in the GMM predictions, and that is amenable to convex programming. The use of feedback policies for prediction is motivated by the need for reduced conservatism in handling multi-modal predictions of the surrounding vehicles, especially prevalent in traffic intersection scenarios. We evaluate our algorithm along axes of mobility, comfort, conservatism and computational efficiency at a simulated intersection in CARLA. Our simulations use a kinematic bicycle model and multimodal predictions trained on a subset of the Lyft Level 5 prediction dataset. To demonstrate the impact of optimizing over feedback policies, we compare our algorithm with two SMPC baselines that handle multi-modal collision avoidance chance constraints by optimizing over open-loop sequences.


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    Title :

    Stochastic MPC with Multi-modal Predictions for Traffic Intersections


    Contributors:


    Publication date :

    2022-10-08


    Size :

    522904 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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