CPC B60W 50/12 (2013.01) [B60W 30/18109 (2013.01); B60W 40/105 (2013.01); B60W 50/06 (2013.01); B60W 2554/4041 (2020.02)] | 20 Claims |
1. A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
upon detecting a mobile object approaching a target region, input a target speed profile for a vehicle, a position and a speed for the vehicle and a position and a speed for the mobile object to a first neural network that outputs an entry probability distribution of predicted entry times at which the mobile object will enter the target region;
input the target speed profile, the position and the speed for the vehicle, the position and the speed for the mobile object, and a predicted entry time at which the mobile object entered the target region to a second neural network that outputs an exit probability distribution of predicted exit times at which the mobile object will exit the target region;
determine an optimized speed profile based on the entry and exit probability distributions by executing a model predictive control algorithm in a rolling horizon; and
operate a vehicle based on the optimized speed profile.
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