Analysis of Truncated Singular Value Decomposition for Koopman Operator-Based Lane Change Model

Chinnawut Nantabut

2024

Abstract

Understanding and modeling complex dynamic systems is crucial for enhancing vehicle performance and safety, especially in the context of autonomous driving. Recently, popular methods such as Koopman operators and their approximators, known as Extended Dynamic Mode Decomposition (EDMD), have emerged for their effectiveness in transforming strongly nonlinear system behavior into linear representations. This allows them to be integrated with conventional linear controllers. To achieve this, Singular Value Decomposition (SVD), specifically truncated SVD, is employed to approximate Koopman operators from extensive datasets efficiently. This study evaluates different basis functions used in EDMD and ranks for truncated SVD for representing lane change behavior models, aiming to balance computational efficiency with information loss. The findings, however, suggest that the technique of truncated SVD does not necessarily achieve substantial reductions in computational training time and results in significant information loss.

Paper Citation

in Harvard Style

Nantabut C. (2024). Analysis of Truncated Singular Value Decomposition for Koopman Operator-Based Lane Change Model. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 676-683. DOI: 10.5220/0012997800003822

in Bibtex Style

@conference{icinco24,
author={Chinnawut Nantabut},
title={Analysis of Truncated Singular Value Decomposition for Koopman Operator-Based Lane Change Model},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={676-683},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012997800003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Analysis of Truncated Singular Value Decomposition for Koopman Operator-Based Lane Change Model
SN - 978-989-758-717-7
AU - Nantabut C.
PY - 2024
SP - 676
EP - 683
DO - 10.5220/0012997800003822
PB - SciTePress