Autonomous vehicle operation based on interactive model predictive control

A system comprising a computing device including a processor and a memory, the memory storing instructions executable by the processor such that the processor is programmed to:

• receive a set of goals for a first vehicle operating in an autonomous mode;
• identify, based on the set of goals, a travel area for the first vehicle for a next predetermined time period, the predetermined time period including a plurality of time slots;
• receive data indicating a first level of predictability of driving conditions of the identified travel area, the data including an indication of one or more objects and a behavior of the one or more objects, wherein the one or more objects includes one or more second vehicles;
• determine, based on the received data, that the first level of predictability of driving conditions is sufficient to control the first vehicle according to model predictive control, further based on determining that a level of predictability of each of the one or more objects within the travel area is within a predetermined range including determining that each of the second vehicles is operating autonomously;
• and
• control the first vehicle according to interactive model predictive control including:
• determining, for the predetermined time period, a control solution, the control solution including instructions to control each of the actuators related to the steering, propulsion and braking of the first vehicle such that a cost function associated with the set of goals is minimized;
• implementing the control solution for a first time slot at a beginning of the predetermined time period;
• updating the predetermined time period to remove the first time slot and include first additional time slot at an end of the predetermined time period;
• determining, for the updated predetermined time period, an updated control solution, the updated control solution including instructions to control each of the actuators related to the steering, propulsion and braking of the first vehicle such that the cost function for the first vehicle associated with the set of goals for the first vehicle is minimized;
• and
• implementing the updated control solution for a second time slot, immediately after the first time slot.