Human-robot interaction for truck platooning using hierarchical dynamic games

Fisac, Jaime F. (author): Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.

Sadigh, Dorsa (author): Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA.

Sastry, S. Shankar (author): Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA.

(creator_code:org_t)

IEEE, 2019
2019
English.
In: Proceedings 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC). - : IEEE. ; , s. 3165-3172

Related links:: https://ecc19.eu/; show more...; https://ieeexplore.i...; https://urn.kb.se/re...; https://doi.org/10.2...; show less...

Abstract Subject headings

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.

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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