Abstract
This paper considers the multi-vehicle automated driving coordination problem. We develop a distributed, hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on multi-lane highways, where each dynamics is modeled as a mixed-logical–dynamical system. We formalize the coordination problem as a generalized mixed-integer potential game, seeking an equilibrium solution that generates almost individually optimal mixed-integer decisions, given the safety constraints. Finally, we embed the proposed best-response-based algorithms within the distributed open- and closed-loop control policies.
Original language | English |
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Pages (from-to) | 1064-1073 |
Journal | IEEE Transactions on Intelligent Transportation Systems |
Volume | 21 |
Issue number | 3 |
DOIs | |
Publication status | Published - 2020 |
Bibliographical note
Accepted Author ManuscriptKeywords
- Autonomous vehicles
- networked control systems
- optimization methods