An MPPI planner that scores each sampled ego trajectory using neural-network predictions of how surrounding vehicles will respond, plus a spline prior to make lane changes easier to discover.
Rehg, Byron Boots, and Evangelos A
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IANN-MPPI: Interaction-Aware Neural Network-Enhanced Model Predictive Path Integral Approach for Autonomous Driving
An MPPI planner that scores each sampled ego trajectory using neural-network predictions of how surrounding vehicles will respond, plus a spline prior to make lane changes easier to discover.