Differential Game-Based Optimal Control of Autonomous Vehicle Convoy

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Differential Game-Based Optimal Control of Autonomous Vehicle Convoy

Popis výsledku v původním jazyce

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&apos;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.

Název v anglickém jazyce

Differential Game-Based Optimal Control of Autonomous Vehicle Convoy

Popis výsledku anglicky

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&apos;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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

10200 - Computer and information sciences

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2022

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Transactions on Intelligent Transportation Systems

ISSN

1524-9050

e-ISSN

1558-0016

Svazek periodika

2022

Číslo periodika v rámci svazku

2022

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

17

Strana od-do

nestrankovano

Kód UT WoS článku

000890869300001

EID výsledku v databázi Scopus

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