Efficient optimal control with dynamic model for autonomous vehicle
Disclosed herein are methods and systems for efficient optimal control with dynamic modeling for an autonomous vehicle (AV). The method may include acquiring vehicle status information for the AV, determining a longitudinal velocity of the AV, determining a driving style factor, wherein the driving style factor is dependent on at least road scenarios, obtaining an optimal control factor from a look-up table (LUT) using the determined longitudinal velocity and the determined driving style factor and providing an updated control command (such as a steering command) based on the obtained optimal control factor. The driving style factor may be determined from at least vehicle status, desired trajectory, current linear velocity and like parameters and ranges between a gentle driving mode and an aggressive driving mode.
1. A method for controlling an autonomous vehicle (AV), the method comprising:
acquiring vehicle status information for the AV,
determining a longitudinal velocity of the AV,
determining a driving style factor based on minimizing a cost function dependent on vehicle state and steering angle when vehicle conditions are safe and is dependent on at least road scenarios;
obtaining an optimal control factor from a look-up table (LUT) using the determined longitudinal velocity and the determined driving style factor; and
providing an updated control command based on the obtained optimal control factor.
2. The method of claim 1 , wherein the optimal control factor is an optimal feedback gain for at least one of a linear quadratic regulator algorithm or a linear quadratic Gaussian algorithm.
3. The method of claim 1 , wherein the optimal control factor is an optimal model predictive control solution for each region of a solution region.
4. The method of claim 1 , wherein the vehicle status information includes at least vehicle position, heading angle, steering wheel angle, velocity, direction, desired trajectory and speed and the vehicle state includes at least one of lateral error, lateral error rate, the heading angle, and heading angle rate.
5. The method of claim 1 , further comprising:
checking spinning, drifting, and rollover conditions to ensure that the vehicle conditions including the desired trajectory and the speed are safe.
6. The method of claim 5 , further comprising:
using a previous trajectory if the vehicle conditions are unsafe.
7. The method of claim 1 , wherein the longitudinal velocity is determined from a linear velocity and a vehicle slip angle.
8. The method of claim 1 , wherein the driving style factor is determined from at least vehicle status, desired trajectory and current linear velocity.
9. The method of claim 8 , wherein the driving style factor ranges between a gentle driving mode and an aggressive driving mode.
10. The method of claim 1 , wherein the control command is at least one of a steering command, acceleration, and deceleration.
11. A vehicle control system for controlling an autonomous vehicle (AV), the vehicle control system comprising:
a controller, wherein the controller is configured to:
acquire vehicle status information for the AV;
determine a longitudinal velocity of the AV;
determine a driving style factor based on minimizing a cost function dependent on vehicle state and steering angle when vehicle conditions are safe and is dependent on at least road scenarios;
obtain an optimal control factor from a look-up table (LUT) using the determined longitudinal velocity and the determined driving style factor; and
provide an updated control command based on the obtained optimal control factor.
12. The vehicle control system of claim 11 , wherein the optimal control factor is an optimal feedback gain for at least one of a linear quadratic regulator algorithm or a linear quadratic Gaussian algorithm.
13. The vehicle control system of claim 11 , wherein the optimal control factor is an optimal model predictive control solution for each region of a solution region.
14. The vehicle control system of claim 11 , wherein the vehicle status information includes at least vehicle position, heading angle, steering wheel angle, velocity, direction, desired trajectory and speed and the vehicle state includes at least one of lateral error, lateral error rate, the heading angle, and heading angle rate.
15. The vehicle control system of claim 11 , wherein the controller is configured to:
check spinning, drifting, and rollover conditions to ensure that the vehicle conditions including the desired trajectory and the speed are safe.
16. The vehicle control system of claim 15 , wherein the controller is configured to:
use a previous trajectory if the vehicle conditions are unsafe.
17. The vehicle control system of claim 11 , wherein the longitudinal velocity is determined from a linear velocity and a vehicle slip angle.
18. The vehicle control system of claim 11 , wherein the driving style factor is determined from at least vehicle status, desired trajectory and current linear velocity.
19. The vehicle control system of claim 18 , wherein the driving style factor ranges between a gentle driving mode and an aggressive driving mode.
20. The vehicle control system of claim 11 , wherein the control command is at least one of a steering command, acceleration, and deceleration.