A Computationally Efficient MPC for Green Light Optimal Speed Advisory of Highly Automated Vehicles

Uebel, Stephan; Kutter, Steffen; Hipp, Kevin; Schrödel, Frank

doi:10.5220/0007717304440451

Proceedings of the 5th International Conference on Vehicle Technology and Intelligent Transport Systems 2019

DOI: 10.5220/0007717304440451

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A Computationally Efficient MPC for Green Light Optimal Speed Advisory of Highly Automated Vehicles

Stephan Uebel

Steffen Kutter

Kevin Hipp

et al.

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2023

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Learning vision based autonomous lateral vehicle control without supervision

Khan

Sülö²,

Öcal³

et al. 2023

Appl Intell

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Supervised deep learning methods using image data as input have shown promising results in the context of vehicle control. However, these supervised methods have two main disadvantages: 1) They require a copious amount of labeled training data, which is difficult and expensive to collect. 2) Such models do not perform well, when situations that are not in the distribution of the training set are encountered. This includes deviations from the designated driving behavior. We therefore provide a framework to mitigate these problems from merely an unlabeled sequence of images. Visual Odometry is first used to determine the vehicle trajectory. Model Predictive Control (MPC) then uses this trajectory to implicitly infer the steering labels. Meanwhile, synthesized images at deviated trajectories are included in the training distribution for enhanced robustness of the neural network model. Experimental results demonstrate that the performance of our network is at par with methods requiring additional data collection or supervision. Code and supplementary information is available here: https://github.com/idilsulo/nn-driving

show abstract

Learning vision based autonomous lateral vehicle control without supervision

Khan

Sülö²,

Öcal³

et al. 2023

Appl Intell

View full text Add to dashboard Cite

show abstract

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A Computationally Efficient MPC for Green Light Optimal Speed Advisory of Highly Automated Vehicles

Cited by 1 publication

References 0 publications

Learning vision based autonomous lateral vehicle control without supervision

Learning vision based autonomous lateral vehicle control without supervision

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