PlanNetX：MPCから学習する縦方向制御のための効率的なニューラルネットワークプランナ
PlanNetX: Learning an Efficient Neural Network Planner from MPC for Longitudinal Control
MPCの計画軌道全体をニューラルネットワークで模倣するPlanNetXを提案し、自動運転の縦方向プランナとしてCommonRoadで評価した。
著者: Jasper Hoffmann, Diego Fernandez, Julien Brosseit, Julian Bernhard, Klemens Esterle, Moritz Werling, Michael Karg, Joschka Boedecker
分類: cs.RO, math.OC
原文アブストラクト
Model predictive control (MPC) is a powerful, optimization-based approach for controlling dynamical systems. However, the computational complexity of online optimization can be problematic on embedded devices. Especially, when we need to guarantee fixed control frequencies. Thus, previous work proposed to reduce the computational burden using imitation learning (IL) approximating the MPC policy by a neural network. In this work, we instead learn the whole planned trajectory of the MPC. We introduce a combination of a novel neural network architecture PlanNetX and a simple loss function based on the state trajectory that leverages the parameterized optimal control structure of the MPC. We validate our approach in the context of autonomous driving by learning a longitudinal planner and benchmarking it extensively in the CommonRoad simulator using synthetic scenarios and scenarios derived from real data. Our experimental results show that we can learn the open-loop MPC trajectory with high accuracy while improving the closed-loop performance of the learned control policy over other baselines like behavior cloning.
