Optimization of Model Predictive Control for Autonomous Vehicles Through Learning-Based Weight Adjustment

This is the authors' abstract. We don't add key points for this paper.

Model Predictive Control (MPC) method is widely used in autonomous vehicle control technology. The adjustment of MPC weights is crucial for optimizing its control performance, ensuring precise and reliable operation. Traditionally, these weights are adjusted manually, which is inefficient. This study introduces a novel Butterfly Optimization Algorithm (BOA) learning-based method to determine the optimal MPC weights in an efficient way. By adopting the data-driven idea in machine learning, the trajectory data of field experiment human drivers is used to train the controller weights. A simulation-based training platform that enables the automatic training of the MPC controller with varying weights is also developed. Simulation results demonstrate the superior control accuracy and stability performance of BOA learning-based method compared to Linear Quadratic Regulator (LQR) and pure pursuit strategies. The findings suggest that the control method proposed in this research can significantly improve autonomous vehicle control performance and their reliability, thereby contributing to the advancement of autonomous driving technology.