A METHOD AND A COMPUTER SYSTEM FOR MULTI-LEVEL CONTROL OF MOTION ACTUATORS IN AN AUTONOMOUS VEHICLE

A computer system for controlling at least one motion actuator in an autonomous vehicle (100), the computer system comprising processing circuitry implementing a feedback controller (120, 122), which is configured to sense an actual motion state (x) of the vehicle and determine a machine-level instruction (u) to the motion actuator for approaching a setpoint motion state (x*), a reinforcement-learning, RL, agent (130), which is trained to perform decision-making regarding the setpoint motion state (x*). The decisions by the RL agent are applied as the setpoint motion state (x*) of the feedback controller, and the machine-level instruction (u) from the feedback controller (120) is applied to the motion actuator.