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- Stefansson, Elis, et al.
(författare)
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Human-robot interaction for truck platooning using hierarchical dynamic games
- 2019
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Ingår i: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC). - : IEEE. ; , s. 3165-3172
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Konferensbidrag (refereegranskat)abstract
- 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.
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