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Resilient Branching...
Resilient Branching MPC for Multi-Vehicle Traffic Scenarios Using Adversarial Disturbance Sequences
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- Fors, Victor, 1990- (author)
- Linköping University,Linköpings universitet,Fordonssystem,Tekniska fakulteten
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- Olofsson, Björn (author)
- Linköping University,Lund University,Lunds universitet,Linköpings universitet,Fordonssystem,Tekniska fakulteten,Lund Univ, Sweden,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
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- Frisk, Erik, 1971- (author)
- Linköping University,Linköpings universitet,Fordonssystem,Tekniska fakulteten
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(creator_code:org_t)
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2022
- 2022
- English.
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In: IEEE Transactions on Intelligent Vehicles. - : IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC. - 2379-8858 .- 2379-8904. ; 7:4, s. 838-848
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Abstract
Subject headings
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- An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic are determined automatically such that they are intentionally adversarial to the ego vehicle. This provides robustness against the inherent uncertainty in traffic predictions. To reduce conservatism, an assumption that other agents are of no ill intent is formalized. Simulation results from highway driving scenarios show that the proposed method in real-time negotiates traffic situations out of scope for a nominal MPC approach and performs favorably to state-of-the-art reinforcement-learning approaches without requiring prior training. The results also show that the proposed method performs effectively, with the ability to prune disturbance sequences with a lower risk for the ego vehicle.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Maskinteknik -- Farkostteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Mechanical Engineering -- Vehicle Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Autonomous vehicles; Nonlinear systems; Decision making; Autonomous driving; tactical decision making; uncertain systems; predictive control for nonlinear systems
Publication and Content Type
- ref (subject category)
- art (subject category)
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