The purpose of this paper is to reduce the difficulty of model predictive control (MPC) deployment on FPGA so that researchers can make better use of FPGA technology for academic research.

In this paper, the MPC algorithm is written into FPGA by combining hardware with software. Experiments have verified this method.

This paper implements a ZYNQ-based design method, which could significantly reduce the difficulty of development. The comparison with the CPU solution results proves that FPGA has a significant acceleration effect on the solution of MPC through the method.

Due to the limitation of practical conditions, this paper cannot carry out a hardware-in-the-loop experiment for the time being, instead of an open-loop experiment.

This paper proposes a new design method to deploy the MPC algorithm to the FPGA, reducing the development difficulty of the algorithm implementation on FPGA. It greatly facilitates researchers in the field of autonomous driving to carry out FPGA algorithm hardware acceleration research.

Decision-making is one of the key technologies for self-driving cars. The high dependency of previously existing methods on human driving data or rules makes it difficult to model policies for different driving situations.

In this research, a probabilistic decision-making method based on the Markov decision process (MDP) is proposed to deduce the optimal maneuver automatically in a two-lane highway scenario without using any human data. The decision-making issues in a traffic environment are formulated as the MDP by defining basic elements including states, actions and basic models. Transition and reward models are defined by using a complete prediction model of the surrounding cars. An optimal policy was deduced using a dynamic programing method and evaluated under a two-dimensional simulation environment.

Results show that, at the given scenario, the self-driving car maintained safety and efficiency with the proposed policy.

This paper presents a framework used to derive a driving policy for self-driving cars without relying on any human driving data or rules modeled by hand.