What Is the Best Way to Optimally Parameterize the MPC Cost Function for Vehicle Guidance?

What Is the Best Way to Optimally Parameterize the MPC Cost Function for Vehicle Guidance?

Model predictive control (MPC) is a promising approach to the lateral and longitudinal control of autonomous vehicles. However, the parameterization of the MPC with respect to high-level requirements such as passenger comfort, as well as lateral and longitudinal tracking, is challenging. Numerous tu...

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Bibliographic Details
Main Authors: David Stenger, Robert Ritschel, Felix Krabbes, Rick Voßwinkel, Hendrik Richter
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Mathematics
Subjects:
Bayesian optimization
metaheuristics
model predictive control
multi-objective optimization
controller tuning
vehicle guidance
Online Access:https://www.mdpi.com/2227-7390/11/2/465

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