In one embodiment, a computer-implemented method for optimizing a controller of an autonomous driving vehicle (ADV) includes obtaining several samples, each sample having a set of parameters, iteratively performing, until a predetermined condition is satisfied: determining, for each sample, a score according to a configuration of the controller based on the set of parameters of the sample, applying a machine learning model to the samples and corresponding scores to determine a mean function and a variance function, producing a new sample as a minimum of a function of the mean function and the variance function with respect to an input space of the set of parameters, adding the new sample to the several samples, and outputting the new sample as an optimal sample, where parameters of the optimal sample are utilized to configure the controller to autonomously drive the ADV.


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    Title :

    Bayesian Global optimization-based parameter tuning for vehicle motion controllers


    Contributors:
    WANG YU (author) / LUO QI (author) / XU JIAXUAN (author) / ZHOU JINYUN (author) / JIANG SHU (author) / TAO JIAMING (author) / CAO YU (author) / LIN WEI-MAN (author) / XU KECHENG (author) / MIAO JINGHAO (author)

    Publication date :

    2023-06-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



    BAYESIAN GLOBAL OPTIMIZATION-BASED PARAMETER TUNING FOR VEHICLE MOTION CONTROLLERS

    WANG YU / LUO QI / XU JIAXUAN et al. | European Patent Office | 2021

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