Semantic Property Maps for Driving Applications

We consider the problem of estimating the parameters of a vehicle dynamics model for predictive control in driving applications. Instead of solely using the instantaneous parameters estimated from the vehicle signals, we combine this with cameras and update a probabilistic map with parameter estimates and semantic information using Bayesian moment matching. Key to this approach is the map representation, which is constructed with conjugate priors to the measurement likelihoods and defined in the same path coordinates as the vehicle controller, such that the map can be externalized to provide a local representation of the parameter likelihoods that vary in space. The result is a spatial map of vehicle parameters adapted online to enhance the driving control system. We provide theoretical guarantees on the smoothness of relevant parameter likelihood statistics as a function of space, which is critical for their use in predictive control.