Model Parameter Identification via a Hyperparameter Optimization Scheme for Autonomous Racing Systems
Hyunki Seong, Chanyoung Chung, David Hyunchul Shim
Abstract
In this letter, we propose a model parameter identification method via a hyperparameter optimization scheme (MI-HPO). Our method adopts an efficient exploreexploit strategy to identify the parameters of dynamic models in a data-driven optimization manner. We utilize our method for model parameter identification of the AV-21, a full-scaled autonomous race vehicle. We then incorporate the optimized parameters for the design of modelbased planning and control systems of our platform. In experiments, MI-HPO exhibits more than 13 times faster convergence than traditional parameter identification methods. Furthermore, the parametric models learned via MIHPO demonstrate good fitness to the given datasets and show generalization ability in unseen dynamic scenarios. We further conduct extensive field tests to validate our model-based system, demonstrating stable obstacle avoidance and high-speed driving up to 217km/h at the Indianapolis Motor Speedway and Las Vegas Motor Speedway. The source code for our work and videos of the tests are available at https://github.com/hynkis/MI-HPO.