回避モードの模倣学習による効率的なマルチモーダルモデル予測制御

原文アブストラクト

Multimodal model predictive control (MM-MPC) avoids local minima among moving obstacles by solving one optimal control problem (OCP) per combination of avoidance sides, so its computational cost grows exponentially with the number of decision-critical obstacles. We propose SideNet-MPC, which replaces this enumeration with a mode decision learned by imitating MM-MPC as an expert. A graph neural network is trained to predict the expert's minimum-cost mode, one avoidance side per obstacle. Its edges encode, for each obstacle pair, the gap predicted for the moment the vehicle first reaches either obstacle, so a neighbor that blocks a preferred passage can reverse the proposed side. The expert's selection rule compares its minimum-cost mode with the previously executed mode; SideNet-MPC keeps this rule and substitutes the network proposal for the minimum-cost mode. Hence at most two OCPs are solved per control period, and every applied input still comes from an OCP with control barrier function constraints rather than from the network. In $100$ seed-matched closed-loop Monte Carlo runs of mixed traffic, SideNet-MPC reaches $93\%$ of the expert's success rate and needs \SI{18.6}{ms} per control period on a single thread, 48\% less than the expert's \SI{35.5}{ms} on sixteen parallel threads. In a controlled gap sweep, its proposed side reverses in the same gap interval as the expert's, whereas proposers without pairwise edges, trained on the same data, never reverse and all deadlock at the blocked gates of a deterministic scene.