Fig. 1 System diagram of the combined model More about this image found in System diagram of the combined model

Fig. 2 Baseline vehicle model More about this image found in Baseline vehicle model

Fig. 3 Baseline calculation in the probabilistic seq2seq model More about this image found in Baseline calculation in the probabilistic seq2seq model

Fig. 4 Seq2seq trajectory prediction based on GP More about this image found in Seq2seq trajectory prediction based on GP

Fig. 5 Particle-based model initialization More about this image found in Particle-based model initialization

Fig. 6 Particle-based propagation process More about this image found in Particle-based propagation process

Fig. 7 Flowcharts outlining the steps to collect empirical vehicle trajectory data: ( a ) flowchart for pre-calculating nominal control sequences and ( b ) flowchart for collecting empirical vehicle trajectories under environmental uncertainty More about this image found in Flowcharts outlining the steps to collect empirical vehicle trajectory data...

Fig. 8 Testing track in the simulation environment More about this image found in Testing track in the simulation environment

Fig. 9 Data preparation: computing modeling bias from the empirical trajectory and baseline kinematics trajectory for different models: ( a ) computing bias data in the probabilistic seq2seq model and ( b ) computing bias data in the single-step GP More about this image found in Data preparation: computing modeling bias from the empirical trajectory and...

Fig. 10 Prediction results for an example scene with high uncertainty using different models: ( a ) baseline model, ( b ) SVGP seq2seq model, ( c ) sequential Monte Carlo, and ( d ) combined model More about this image found in Prediction results for an example scene with high uncertainty using differe...

Fig. 11 Prediction results in an example scene with low uncertainty More about this image found in Prediction results in an example scene with low uncertainty

Fig. 12 Total variation: ( a ) case I and ( b ) case II More about this image found in Total variation: ( a ) case I and ( b ) case II

Fig. 1 Two levels of control for autonomous HEVs [ 30 ] More about this image found in Two levels of control for autonomous HEVs [ 30 ]

Fig. 2 Free-body diagram of the vehicle More about this image found in Free-body diagram of the vehicle

Fig. 3 THS powertrain schematic More about this image found in THS powertrain schematic

Fig. 4 Engine map More about this image found in Engine map

Fig. 5 Energy management hierarchy with flexible torque demand More about this image found in Energy management hierarchy with flexible torque demand

Fig. 6 Architecture of the deep neural network More about this image found in Architecture of the deep neural network