Abstract:In this paper, we introduce a learning-based vision dynamics approach to nonlinear model predictive control for autonomous vehicles, coined LVD-NMPC. LVD-NMPC uses an a-priori process model and a learned vision dynamics model used to calculate the dynamics of the driving scene, the controlled system's desired state trajectory and the weighting gains of the quadratic cost function optimized by a constrained predictive controller. The vision system is defined as a deep neural network designed to estimate the dyn… Show more
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