Sökning: onr:"swepub:oai:DiVA.org:kth-263397" >
Human-robot interac...
Human-robot interaction for truck platooning using hierarchical dynamic games
-
- Stefansson, Elis (författare)
- KTH,Reglerteknik
-
- Fisac, Jaime F. (författare)
- Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
-
- Sadigh, Dorsa (författare)
- Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA.
-
visa fler...
-
- Sastry, S. Shankar (författare)
- Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.
-
- Johansson, Karl H., 1967- (författare)
- KTH,Reglerteknik
-
visa färre...
-
(creator_code:org_t)
- IEEE, 2019
- 2019
- Engelska.
-
Ingår i: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC). - : IEEE. ; , s. 3165-3172
- Relaterad länk:
-
https://ecc19.eu/
-
visa fler...
-
https://ieeexplore.i...
-
https://urn.kb.se/re...
-
https://doi.org/10.2...
-
visa färre...
Abstract
Ämnesord
Stäng
- 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)