{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/learning-based-mpc-for-efficient-control-of","title":"Learning-Based MPC for Fuel Efficient Control of Autonomous Vehicles with Discrete Gear Selection","arxiv_id":"2503.11359","date":"2025-03-14","proceeding":null,"authors":["Samuel Mallick","Gianpietro Battocletti","Qizhang Dong","Azita Dabiri","Bart De Schutter"],"abstract":"Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear positions may be too computationally intensive for a real-time implementation. This work proposes a learning-based MPC scheme to address this issue. A policy is trained to select and fix the gear positions across the prediction horizon of the MPC controller, leaving a significantly simpler continuous optimization problem to be solved online. In simulation, the proposed approach is shown to have a significantly lower computation burden and a comparable performance, with respect to pure MPC-based co-optimization.","url_abs":"https://arxiv.org/abs/2503.11359v3","url_pdf":"https://arxiv.org/pdf/2503.11359v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"learning-based-mpc-for-efficient-control-of","repo_url":"https://github.com/samuelmallick/mpcrl-vehicle-gears","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"model-predictive-control","task_name":"Model Predictive Control"},{"task_slug":null,"task_name":"Position"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}