Parameter Identification of Autonomous Vehicles Using Multi-objective Optimisation

In order to properly operate an autonomous vehicle navigation system, it is important that the vehicle and sensor models of an autonomous vehicle are defined by an accurate parameter set. This paper presents a technique for identifying parameters of an autonomous vehicle using multi-objective optimisation, which enables the identification process without introducing additional parameters. A multi-objective optimisation method has been further proposed to solve the optimisation problem defined for the identification efficiently and promisingly. Results of numerical examples first show that the proposed optimisation method can work well for various multi-objective optimisation problems. Then, the proposed identification technique has been applied to the actual parameter identification of the autonomous vehicle developed by the authors, and an appropriate parameter set has been obtained.