DDK: A Deep Koopman Approach for Longitudinal and Lateral Control of Autonomous Ground Vehicles
Yongqian Xiao,Xinglong Zhang,Xin Xu,Yang Lu,Junxiang Lil,Yongqian Xiao,Xinglong Zhang,Xin Xu,Yang Lu,Junxiang Lil
Autonomous driving has attracted lots of attention in recent years. For some tasks, e.g., trajectory prediction, motion planning, and trajectory tracking, an accurate vehicle model can reduce the difficulty of these tasks and improve task completion performance. Prior works focused on parameter estimation of physical models or modeling nonlinear dynamics using neural networks. Still, these methods...
