Autonomous Vehicle Control Through the Dynamics and Controller Learning

Abstract

Parameters tuning of the model and the controller is an essential problem for autonomous vehicles. Traditionally, parameter tuning work is accomplished by manual operation or grid search, which is a tedious and time-consuming work. Recently, thanks to the development of machine learning community, several automatic controller parameter tuning approaches emerged, which usually model the performance function as a Gaussian process, and complete the automatic tuning procedure via Bayesian optimization. However, the existing approaches rarely consider the time-varying feature of the system performance, which is practical in many scenarios, induced by the unmodeled interactions between the system and the environment. In this paper, we take both of the dynamic model uncertainty and the controller parameters uncertainty into account, and tune them to find a global optimal choice for minimizing the time-varying control costs, which is modeled by the time-varying Gaussian process. We provide a novel algorithm, named as time-varying controller optimization. We validate our approach on synthetic simulation and real experiment, respectively. Taking the cumulative regret as the performance metric, we find that our approach has a better performance compared with the stationary algorithm.