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Register a new userRule-based Optimal Control for Autonomous Driving
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Added by
Wei Xiao
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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We develop optimal control strategies for Autonomous Vehicles (AVs) that are required to meet complex specifications imposed by traffic laws and cultural expectations of reasonable driving behavior. We formulate these specifications as rules, and specify their priorities by constructing a priority structure. We propose a recursive framework, in which the satisfaction of the rules in the priority structure are iteratively relaxed based on their priorities. Central to this framework is an optimal control problem, where convergence to desired states is achieved using Control Lyapunov Functions (CLFs), and safety is enforced through Control Barrier Functions (CBFs). We also show how the proposed framework can be used for after-the-fact, pass / fail evaluation of trajectories - a given trajectory is rejected if we can find a controller producing a trajectory that leads to less violation of the rule priority structure. We present case studies with multiple driving scenarios to demonstrate the effectiveness of the proposed framework.
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We develop optimal control strategies for autonomous vehicles (AVs) that are required to meet complex specifications imposed as rules of the road (ROTR) and locally specific cultural expectations of reasonable driving behavior. We formulate these specifications as rules, and specify their priorities by constructing a priority structure, called underline{T}otal underline{OR}der over eunderline{Q}uivalence classes (TORQ). We propose a recursive framework, in which the satisfaction of the rules in the priority structure are iteratively relaxed in reverse order of priority. Central to this framework is an optimal control problem, where convergence to desired states is achieved using Control Lyapunov Functions (CLFs) and clearance with other road users is enforced through Control Barrier Functions (CBFs). We present offline and online approaches to this problem. In the latter, the AV has limited sensing range that affects the activation of the rules, and the control is generated using a receding horizon (Model Predictive Control, MPC) approach. We also show how the offline method can be used for after-the-fact (offline) pass/fail evaluation of trajectories - a given trajectory is rejected if we can find a controller producing a trajectory that leads to less violation of the rule priority structure. We present case studies with multiple driving scenarios to demonstrate the effectiveness of the algorithms, and to compare the offline and onli
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions are limited in data efficiency and adaptability respectively. This paper is an attempt toward the fusion of the two classes of methods. By means of a modular design that is consisted of mechanism-based and data-driven components, and aware of the two-timescale phenomenon in the car model, our approach effectively improves over previous methods in terms of data efficiency, ability of transfer and final performance. The hybrid mechanism-and-data-driven approach is verified on TORCS (The Open Racing Car Simulator). Experiment results demonstrate the benefit of our approach over purely mechanism-based and purely data-driven methods.
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In this paper, we propose a new reinforcement learning (RL) algorithm, called encoding distributional soft actor-critic (E-DSAC), for decision-making in autonomous driving. Unlike existing RL-based decision-making methods, E-DSAC is suitable for situations where the number of surrounding vehicles is variable and eliminates the requirement for manually pre-designed sorting rules, resulting in higher policy performance and generality. We first develop an encoding distributional policy iteration (DPI) framework by embedding a permutation invariant module, which employs a feature neural network (NN) to encode the indicators of each vehicle, in the distributional RL framework. The proposed DPI framework is proved to exhibit important properties in terms of convergence and global optimality. Next, based on the developed encoding DPI framework, we propose the E-DSAC algorithm by adding the gradient-based update rule of the feature NN to the policy evaluation process of the DSAC algorithm. Then, the multi-lane driving task and the corresponding reward function are designed to verify the effectiveness of the proposed algorithm. Results show that the policy learned by E-DSAC can realize efficient, smooth, and relatively safe autonomous driving in the designed scenario. And the final policy performance learned by E-DSAC is about three times that of DSAC. Furthermore, its effectiveness has also been verified in real vehicle experiments.
In this paper, we propose a new state representation method, called encoding sum and concatenation (ESC), for the state representation of decision-making in autonomous driving. Unlike existing state representation methods, ESC is applicable to a variable number of surrounding vehicles and eliminates the need for manually pre-designed sorting rules, leading to higher representation ability and generality. The proposed ESC method introduces a representation neural network (NN) to encode each surrounding vehicle into an encoding vector, and then adds these vectors to obtain the representation vector of the set of surrounding vehicles. By concatenating the set representation with other variables, such as indicators of the ego vehicle and road, we realize the fixed-dimensional and permutation invariant state representation. This paper has further proved that the proposed ESC method can realize the injective representation if the output dimension of the representation NN is greater than the number of variables of all surrounding vehicles. This means that by taking the ESC representation as policy inputs, we can find the nearly optimal representation NN and policy NN by simultaneously optimizing them using gradient-based updating. Experiments demonstrate that compared with the fixed-permutation representation method, the proposed method improves the representation ability of the surrounding vehicles, and the corresponding approximation error is reduced by 62.2%.
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