Human-robot interaction for truck platooning using hierarchical dynamic games

QC 20191114
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.

Fisac, Jaime F.Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA. (author)
Sadigh, DorsaStanford Univ, Dept Comp Sci, Stanford, CA 94305 USA. (author)
Sastry, S. ShankarUniv Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA. (author)
Johansson, Karl H.,1967-KTH,Reglerteknik(Swepub:kth)u1h0d9k2 (author)
KTHReglerteknik (creator_code:org_t)

By the author/editor: Stefansson, Elis; Fisac, Jaime F.; Sadigh, Dorsa; Sastry, S. Shank ...; Johansson, Karl ...

About the subject

ENGINEERING AND TECHNOLOGY: ENGINEERING AND ...; and Electrical Engin ...; and Control Engineer ...

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