Learned Terminal Costs for Short-Horizon Model Predictive Control of Autonomous Trucks in Interactive Highway Traffic
arXiv:2610.40257v1 Announce Type: cross Abstract: Autonomous highway driving for heavy-duty trucks is a challenging control problem. The greater mass, dimensions and intricate dynamics increase the requirements for cooperation from surrounding traffic in critical maneuvers, requiring a careful balance between safety constraints and efficient long-horizon decision making. Model Predictive Control (MPC) provides rigorous constraint satisfaction but relies on terminal cost which can limit its effe…