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A Novel Simulation-Based Optimization Method for Autonomous Vehicle Path Tracking with Urban Driving Application

Author

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  • Yanzhan Chen

    (School of Traffic & Transportation Engineering, Central South University, Changsha 410075, China)

  • Fan Yu

    (School of Traffic & Transportation Engineering, Central South University, Changsha 410075, China)

Abstract

Autonomous driving technology heavily depends on accurate and smooth path tracking. Facing complex urban driving scenarios, developing a suite of high-performance and robust parameters for controllers becomes imperative. This paper proposes a stochastic simulation-based optimization model for optimizing the Proportional–Integral–Differential (PID) controller parameters, with tracking accuracy and smoothness as bi-objectives, and solves it using a domination-measure-based efficient global optimization (DMEGO) algorithm. In this model, the tracking accuracy and smoothness are indexed by the normalized dynamic time warping (NDTW) and the mean absolute lateral acceleration (MALA), respectively. In addition, we execute the PID controller in a realistic simulation environment using a CARLA simulator, which consider various city scenes, diverse routes, different vehicle types, road slopes, etc., to provide a comprehensive and reliable evaluation for the designed PID controller. In the DMEGO method, each solution undergoes evaluation using a fixed number of costly simulations. Then, utilizing the solutions and their estimated bi-objective values, two surrogate models for the bi-objectives are constructed using the Gaussian process (GP) model. The preliminary nondominated solutions can be obtained by optimizing the two surrogate models. Finally, a novel performance metric known as the domination measure is employed to evaluate the quality of each solution. This metric is then integrated with the crowding distance to selectively retain a candidate solution exhibiting superior performance and good diversity for the next iteration. In our numerical experiments, we first test the DMEGO algorithm against three other counterparts using a stochastic FON benchmark. The proposed approach is then employed to optimize the PID parameters considering the complexity and uncertainty of urban traffic. The numerical results demonstrate that the nondominated solutions obtained by DMEGO exhibit excellent performance in terms of tracking accuracy and smoothness under limited simulation budgets. Overall, the proposed approach may be a viable tool for solving multi-objective simulation-based optimization problem under uncertainties.

Suggested Citation

  • Yanzhan Chen & Fan Yu, 2023. "A Novel Simulation-Based Optimization Method for Autonomous Vehicle Path Tracking with Urban Driving Application," Mathematics, MDPI, vol. 11(23), pages 1-30, November.
  • Handle: RePEc:gam:jmathe:v:11:y:2023:i:23:p:4762-:d:1287448
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    References listed on IDEAS

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    1. Shang, Wen-Long & Zhang, Mengxiao & Wu, Guoyuan & Yang, Lan & Fang, Shan & Ochieng, Washington, 2023. "Estimation of traffic energy consumption based on macro-micro modelling with sparse data from Connected and Automated Vehicles," Applied Energy, Elsevier, vol. 351(C).
    2. Bowen Gong & Zhipeng Xu & Ruixin Wei & Tao Wang & Ciyun Lin & Peng Gao, 2023. "Reinforcement Learning-Based Lane Change Decision for CAVs in Mixed Traffic Flow under Low Visibility Conditions," Mathematics, MDPI, vol. 11(6), pages 1-24, March.
    3. Yuankui Wei & Jixian Zhang, 2022. "A Vehicular Edge Computing-Based Architecture and Task Scheduling Scheme for Cooperative Perception in Autonomous Driving," Mathematics, MDPI, vol. 10(18), pages 1-23, September.
    4. Nguyen, Anh-Tuan & Reiter, Sigrid & Rigo, Philippe, 2014. "A review on simulation-based optimization methods applied to building performance analysis," Applied Energy, Elsevier, vol. 113(C), pages 1043-1058.
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