Model Predictive Control with Gaussian-Process-Supported Dynamical Constraints for Autonomous Vehicles

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve safety. A multi-mode predictive control approach considers th...

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Veröffentlicht in:	arXiv.org 2023-03
Hauptverfasser:	Bethge, Johanna, Pfefferkorn, Maik, Rose, Alexander, Peters, Jan, Findeisen, Rolf
Format:	Artikel
Sprache:	eng
Schlagworte:	Constraint modelling Gaussian process Predictive control Statistical analysis
Online-Zugang:	Volltext
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