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In this paper, we develop an optimal weight adap- tation strategy of model predictive control (MPC) for connected and automated vehicles (CAVs) in mixed traffic. We model the interaction between a CAV and a human-driven vehicle (HDV) as a simultaneous game and formulate a game-theoretic MPC problem to find a Nash equilibrium of the game. In the MPC problem, the weights in the HDV’s objective function can be learned online using moving horizon inverse reinforcement learning. Using Bayesian optimization, we propose a strategy to optimally adapt the weights in the CAV’s objective function so that the expected true cost when using MPC in simulations can be minimized. We validate the effectiveness of the optimal strategy by numerical simulations of a vehicle crossing example at an unsignalized intersection.
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Bayesian optimization of functional output in inverse problems
Motivated by the parameter identification problem of a reaction-diffusion transport model in a vapor phase infiltration processes, we propose a Bayesian optimization procedure for solving the inverse problem that aims to find an input setting that achieves a desired functional output. The proposed algorithm improves over the standard single-objective Bayesian optimization by (i) utilizing the generalized chi-square distribution as a more appropriate predictive distribution for the squared distance objective function in the inverse problems, and (ii) applying functional principal component analysis to reduce the dimensionality of the functional response data, which allows for efficient approximation of the predictive distribution and the subsequent computation of the expected improvement acquisition function.
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- Award ID(s):
- 1921873
- PAR ID:
- 10295068
- Date Published:
- Journal Name:
- Optimization and Engineering
- ISSN:
- 1389-4420
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1007/s11081-021-09677-1
