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Human-robot interac...
Human-robot interaction for truck platooning using hierarchical dynamic games
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- Stefansson, Elis (författare)
- KTH,Reglerteknik
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- Fisac, Jaime F. (författare)
- Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
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- Sadigh, Dorsa (författare)
- Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA.
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- Sastry, S. Shankar (författare)
- Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
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- Johansson, Karl H., 1967- (författare)
- KTH,Reglerteknik
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(creator_code:org_t)
- IEEE, 2019
- 2019
- Engelska.
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Ingår i: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC). - : IEEE. ; , s. 3165-3172
- Relaterad länk:
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https://ecc19.eu/
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https://ieeexplore.i...
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https://urn.kb.se/re...
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https://doi.org/10.2...
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Abstract
Ämnesord
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- This paper proposes a controller design framework for autonomous truck platoons to ensure safe interaction with a human-driven car. The interaction is modelled as a hierarchical dynamic game, played between the human driver and the nearest truck in the platoon. The hierarchical decomposition is temporal with a high-fidelity tactical horizon predicting immediate interactions and a low-fidelity strategic horizon estimating long-horizon behaviour. The hierarchical approach enables feasible computations where human uncertainties are represented by the quantal response model, and the truck is supposed to maximise its payoff. The closed-loop control is validated via case studies using a driving simulator, where we compare our approach with a short-horizon alternative using only the tactical horizon. The results indicate that our controller is more situation-aware resulting in natural and safe interactions.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)