Enhancing Safety in Mixed Traffic: Learning-Based Modeling and Efficient Control of Autonomous and Human-Driven Vehicles

2 code implementations • 10 Apr 2024 • Jie Wang, Yash Vardhan Pant, Lei Zhao, Michał Antkiewicz, Krzysztof Czarnecki

By incorporating a sparse GP technique in HV modeling and adopting a dynamic GP prediction within the MPC framework, we significantly reduced the computation time of GP-MPC, marking it only 4. 6% higher than that of the conventional MPC.

Autonomous Vehicles Model Predictive Control +1