Differential Game-Based Optimal Control of Autonomous Vehicle Convoy
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F22%3A10250809" target="_blank" >RIV/61989100:27240/22:10250809 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9961090" target="_blank" >https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9961090</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TITS.2022.3223303" target="_blank" >10.1109/TITS.2022.3223303</a>
Alternative languages
Result language
angličtina
Original language name
Differential Game-Based Optimal Control of Autonomous Vehicle Convoy
Original language description
Group control of connected and autonomous vehicles on automated highways is challenging for the advanced driver assistance systems (ADAS) and the automated driving systems (ADS). This paper investigates the differential game-based approach to autonomous convoy control with the aim of deployment on automated highways. Under the noncooperative differential games, the coupled vehicles make their decisions independently while their states are interdependent. The receding horizon Nash equilibrium of the linear-quadratic differential game provides the convoy a distributed state-feedback control strategy. This approach suffers a fundamental issue that neither a Nash equilibrium's existence nor the uniqueness is guaranteed. We convert the individual dynamics-based differential game to a relative dynamics-based optimal control problem that carries all the features of the differential game. The existence of a unique Nash control under the differential game corresponds to a unique solution to the optimal control problem. The latter is shown, as well as the asymptotic stability of the closed-loop system. Simulations illustrate the effectiveness of the presented convey control scheme and how it well suits automated highway driving scenarios.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10200 - Computer and information sciences
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Intelligent Transportation Systems
ISSN
1524-9050
e-ISSN
1558-0016
Volume of the periodical
2022
Issue of the periodical within the volume
2022
Country of publishing house
US - UNITED STATES
Number of pages
17
Pages from-to
nestrankovano
UT code for WoS article
000890869300001
EID of the result in the Scopus database
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