In this article, we develop a game theoretic model predictive controller (GTMPC) with aggressiveness estimation to deal with the mandatory lane change (MLC) problem in presence of several surrounding vehicles. GTMPC is responsible for driving a subject vehicle (SV) to a desired longitudinal position and executing lane-changing at the optimal moment. Specifically, GTMPC constantly establishes and solves Stackelberg games corresponding to multiple game candidate vehicles (GCV) within the game scope when SV is able to interact with GCVs by signaling a lane change intention through turn signal. GTMPC first selects one target vehicle (TV) within multiple GCVs based on the Stackelberg equilibrium, followed by estimating TV's aggressiveness based on the interaction between SV and TV, then completes the maneuver through MPC. GTMPC performance is compared with level-k game theoretic controller. Human-in-the-Loop results showed that GTMPC is capable to safely complete the MLC by properly assessing the aggressiveness of surrounding vehicles, driven either by intelligent driver model or human drivers.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Game Theoretic Model Predictive Controller With Aggressiveness Estimation for Mandatory Lane Change


    Beteiligte:
    Zhang, Qingyu (Autor:in) / Langari, Reza (Autor:in) / Tseng, H. Eric (Autor:in) / Filev, Dimitar (Autor:in) / Szwabowski, Steven (Autor:in) / Coskun, Serdar (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.2020


    Format / Umfang :

    2647759 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A Game Theory-Based Model Predictive Controller Considering Intension for Mandatory Lane Change

    Pan, Shuang / Kaizheng, Wang / Yafei, Wang | SAE Technical Papers | 2020


    A Game Theory-Based Model Predictive Controller Considering Intension for Mandatory Lane Change

    Pan, Shuang / Yafei, Wang / Kaizheng, Wang | British Library Conference Proceedings | 2020



    A Game-Based Hierarchical Model for Mandatory Lane Change of Autonomous Vehicles

    Huang, Ping / Ding, Haitao / Sun, Zhenjia et al. | IEEE | 2024


    Hazard-Based Model of Mandatory Lane Change Duration

    Wu, Jiangling / Zhang, Shengrui / Singh, Amit Kumar et al. | ASCE | 2018