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Hybrid control architecture for safe vehicle lateral control

US & West · 19 Aug

A hybrid architecture combining a trained Soft Actor-Critic (SAC) policy and linear MPC is presented for vehicle steering control. Using the first-step optimum of MPC as an anchor and a monotone blending coefficient allows combining the adaptability of learning with MPC's safety guarantees.

Why it matters

Important for developing reliable automated driving systems that require accuracy, low effort, and safety simultaneously.

Relevant to DT products

DTE DT.Forecast

Original headline: A Hybrid End-to-End and Modular Control Architecture Toward Safe Vehicle Lateral Control: Combining Soft Actor-Critic with Model Predictive Control

Read the original: arXiv — Systems and Control (eess.SY)

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