This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Game Theory-Based Model Predictive Controller Considering Intension for Mandatory Lane Change
Technical Paper
2020-01-5127
ISSN: 0148-7191, e-ISSN: 2688-3627
This content contains downloadable datasets
Annotation ability available
Sector:
Event:
Automotive Technical Papers
Language:
English
Abstract
In recent years, with the increase of traffic accidents and traffic jams, lane change, as one of the most important and commonly automatic driving operations for autonomous vehicles, is receiving attention in academia. It is considered to be one of the important solutions that play an important role in improving road traffic safety and efficiency. However, most existing lane-changing models are rule-based lane-changing models. These models only assume a one-direction impact of surrounding vehicles on the lane-changing vehicle. In fact, lane change is a process of mutual interaction between vehicles due to the complexity and uncertainty of the traffic environment. Moreover, the safety and efficiency of existing lane-changing decision algorithms need to be improved. In this paper, we proposed a multivehicle cooperative control approach with a distributed control structure to control the model. The innovation of this paper lies in that we proposed a multivehicle cooperative lane-changing controller that combines game theory and model predictive control (MPC) based on vehicle-to-vehicle (V2V) communication; Moreover, we designed a multilane vehicle-ordering method and decided the optimal time and acceleration of lane change by considering the aggressiveness of the surrounding vehicles and mutual interaction between vehicles. Typical scenarios were tested to verify that a lane-changing vehicle could interact with other vehicles and change lanes without collision. We verified this approach of lane changing through CarSim and MATLAB cosimulation and compared it with the conventional rule-based lane-change decision controller. Test results show that the controller is capable of changing lanes in a smarter manner, guaranteeing the safety and efficiency of the autonomous vehicle.
Authors
Topic
Citation
Pan, S., Yafei, W., and Kaizheng, W., "A Game Theory-Based Model Predictive Controller Considering Intension for Mandatory Lane Change," SAE Technical Paper 2020-01-5127, 2020, https://doi.org/10.4271/2020-01-5127.Data Sets - Support Documents
| Title | Description | Download |
|---|---|---|
| Unnamed Dataset 1 | ||
| Unnamed Dataset 2 | ||
| Unnamed Dataset 3 |
Also In
References
- Singh , S. 2015
- Mersky , A.C. and Samaras , C. Fuel Economy Testing of Autonomous Vehicles Transportation Research 65C 31 48 2016
- Liang , K.-Y. , Martensson , J. , Johansson , K.H. , and Liang , K.-Y. Heavy-Duty Vehicle Platoon Formation for Fuel Efficiency IEEE Transactions on Intelligent Transportation Systems 17 4 1051 1061 2016
- Ahmed , K.I. 1999
- Gipps , P.G. A Model for the Structure of Lane-Changing Decisions Transportation Research Part B: Methodological 20 5 403 414 1986
- Kesting , A. , Treiber , M. , and Helbing , D. General Lane-Changing Model MOBIL for Car-Following Models Transportation Research Record 1999 1 86 94 2007
- Han , Z. et al. Game Theory in Wireless and Communication Networks: Theory, Models, and Applications Cambridge Cambridge University Press 2012
- Talebpour , A. , Mahmassani , H.S. , and Hamdar , S.H. Modeling Lane-Changing Behavior in a Connected Environment: A Game Theory Approach Transportation Research Part C: Emerging Technologies 59 216 232 2015
- Ji , A. , and Levinson , D. A Review of Game Theory Models of Lane Changing Transportmetrica A: Transport Science 16 1628 1647 2020
- Yoo , J.H. and Langari , R. Stackelberg Game Based Model of Highway Driving Dynamic Systems and Control Conference 45295 American Society of Mechanical Engineers 2012
- Yoo , J.H. and Langari , R. A Stackelberg Game Theoretic Driver Model for Merging Dynamic Systems and Control Conference 56130 American Society of Mechanical Engineers 2013
- Yu , H. , Tseng , H.E. , and Langari , R. A Human-Like Game Theory-Based Controller for Automatic Lane Changing Transportation Research 88 140 158 2018
- Zhang , M. and Yu , K. Wireless Communication Technologies in Automated Guided Vehicles: Survey and Analysis IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society Washington, DC 2018
- Meng , F. et al. Dynamic Decision Making in Lane Change: Game Theory with Receding Horizon 2016 UKACC 11th International Conference on Control (CONTROL) Belfast 2016
- Yoo , J. and Langari , R. A Predictive Perception Model and Control Strategy for Collision-Free Autonomous Driving IEEE Transactions on Intelligent Transportation Systems 20 11 4078 4091 2018
- Turri , V. et al. Linear Model Predictive Control for Lane Keeping and Obstacle Avoidance on Low Curvature Roads 16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013) The Hague 2013
- Jula , H. , Kosmatopoulos , E.B. , and Ioannou , P.A. Collision Avoidance Analysis for Lane Changing and Merging IEEE Transactions on Vehicular Technology 49 6 2295 2308 2000
- Shimoda , S. , Kuroda , Y. , and Iagnemma , K. Potential Field Navigation of High Speed Unmanned Ground Vehicles on Uneven Terrain Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain 2005 2828 2833 https://doi.org/10.1109/ROBOT.2005.1570542
- Fox , D. , Burgard , W. , and Thrun , S. The Dynamic Window Approach to Collision Avoidance IEEE Robotics & Automation Magazine 4 1 23 33 1997 https://doi.org/10.1109/100.580977
- Bis , R.A. 2012
- Quinlan , S. and Khatib , O. Elastic Bands: Connecting Path Planning and Control 1993 Proceedings IEEE International Conference on Robotics and Automation Atlanta, GA 1993 2 802 807 https://doi.org/10.1109/ROBOT.1993.291936
- Liu , C. , Lee , S. , Varnhagen , S. and Tseng , H.E. Path Planning for Autonomous Vehicles Using Model Predictive Control 2017 IEEE Intelligent Vehicles Symposium (IV) Los Angeles, CA 2017 174 179 https://doi.org/10.1109/IVS.2017.7995716
- Kim , K. and Kumar , P.R. An MPC-Based Approach to Provable System-Wide Safety and Liveness of Autonomous Ground Traffic IEEE Transactions on Automatic Control 59 12 3341 3356 2014 https://doi.org/10.1109/TAC.2014.2351911
- Huang , Z. , Chu , D. , Wu , C. , and He , Y. Path Planning and Cooperative Control for Automated Vehicle Platoon Using Hybrid Automata IEEE Transactions on Intelligent Transportation Systems 20 3 959 974 2019 https://doi.org/10.1109/TITS.2018.2841967
- Corradini , M.L. , Leo , T. , and Bonci , A. A MIMO Discrete-Time Observer for Unicycle Mobile Vehicle IFAC Proceedings Volumes 31 27 67 72 1998
- Li , S. and Zheng , Y. 2016