Technical Paper
Signature-enriched Vehicle Planning and Control
2024-04-09
2024-01-2559
This work puts forward an original autonomous planning and control framework addressing inherent modeling complexity limit through efficient heterosis between latency-connective graph estimation and generative exploration with an aim to enhance trajectory quality and resiliency in unpredicted conditions. The holistic approach encompasses state and cost prediction facilitated via morphable signature mechanism utilizing anti-cloak characteristics derived from environmental graph. In principle, a dynamic graph neural network is proposed with regards to adaptively capture essential influence caused by interactive agents and reciprocal belief augmentation. Moreover, high efficiency exploration is concerted with signature-enhanced prediction system for non-ideal perception conditions. The exploration scheme takes advantage of confidence optimization function to generate trajectory refinement over non-conventional operating circumstances.