How Imitation Learning and Human Factors Can Be Combined in a Model Predictive Control Algorithm for Adaptive Motion Planning and Control

Abstract

Interest in autonomous vehicles (AVs) has significantly increased in recent years, but despite the huge research efforts carried out in the field of intelligent transportation systems (ITSs), several technological challenges must still be addressed before AVs can be extensively deployed in any environment. In this context, one of the key technological enablers is represented by the motion-planning and control system, with the aim of guaranteeing the occupants comfort and safety. In this paper, a trajectory-planning and control algorithm is developed based on a Model Predictive Control (MPC) approach that is able to work in different road scenarios (such as urban areas and motorways). This MPC is designed considering imitation-learning from a specific dataset (from real-world overtaking maneuver data), with the aim of getting human-like behavior. The algorithm is used to generate optimal trajectories and control the vehicle dynamics. Simulations and Hardware-In-the-Loop tests are carried out to demonstrate the effectiveness and computation efficiency of the proposed approach.

Keywords

• trajectory planning
• vehicle dynamics control
• Model Predictive Control
• learning
• overtaking maneuver