19. Cost Function Matching

Cost Function Matching

Consider the following cost functions. What purpose does each serve?

Cost Function 1
{1s¨≥a_max0s¨<a_max \begin{cases} 1 & \ddot{s} \geq a\_{\text{max}} \\ 0 & \ddot{s} < a\_{\text{max}} \end{cases}
Cost Function 2
{1d≥d_max1d≤d_min0d_min<d<d_max \begin{cases} 1 & d \geq d\_{\text{max}} \\ 1 & d \leq d\_{\text{min}} \\ 0 & d\_{\text{min}} < d < d\_{\text{max}} \end{cases}
Cost Function 3
{1s˙≥v_speed limit0s˙<v_speed limit \begin{cases} 1 & \dot{s} \geq v\_{\text{speed limit}} \\ 0 & \dot{s} < v\_{\text{speed limit}} \end{cases}
Cost Function 4
11+e−(d−d_lane center)2 \frac{1}{1 + e^{-(d - d\_{\text{lane center}})^2}}
Cost Function 5
(lane number−target lane number)2 (\text{lane number} - \text{target lane number}) ^ 2

QUIZ QUESTION: :

Match the verbal descriptions of each cost function to the appropriate number from above.

ANSWER CHOICES:



Cost Function Verbal Description

Cost Function Number

2

3

1

5

4

SOLUTION:

Cost Function Verbal Description

Cost Function Number

2

3

1

5

4

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