A Mixed-Logical-Dynamical model for automated driving on highways
Conference Paper
(2018)
Author(s)
Filippo Fabiani (University of Pisa)
Sergio Grammatico (TU Delft - Mechanical Engineering)
Research Group
Team Bart De Schutter
DOI related publication
https://doi.org/10.1109/CDC.2018.8619852
Final published version
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https://resolver.tudelft.nl/uuid:39dc5cb2-ee5e-4033-8349-fc787fd81bd4
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Publication Year
2018
Language
English
Research Group
Team Bart De Schutter
Pages (from-to)
1011-1016
ISBN (electronic)
978-1-5386-1395-5
Event
CDC 2018: 57th IEEE Conference on Decision and Control (2018-12-17 - 2018-12-19), Miami, United States
Downloads counter
154
Abstract
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose driving rules to prevent potential sources of conflict among neighboring vehicles. We formalize the coordination problem as a generalized mixed-integer potential game, where an equilibrium solution generates a sequence of mixed-integer decisions for the vehicles that trade off individual optimality and overall safety.