?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Game-Theoretic+Model+Predictive+Control+for+Safety-Assured+Autonomous+Vehicle+Overtaking+in+Mixed-Autonomy+Environment&rft.creator=Yu%2C+Sheng&rft.creator=Chen%2C+Boli&rft.creator=Jaimoukha%2C+Imad+M&rft.creator=Evangelou%2C+Simos+A&rft.description=This+work+proposes+a+robust+control+strategy+for+an+autonomous+vehicle+to+overtake+safely+and+comfortably+a+human-driven+vehicle.+The+proposed+scheme+designs+a+collisionavoidance+constraint+setup+that+comprehensively+coordinates+dimension-based+and+velocity-dependent+constraints+to+fulfil+the+safety+criteria.+A+three-phase+control+framework+is+proposed+for+the+overtaking+task%2C+subject+to+separate+collision-avoidance+constraints+in+lane+changing%2C+passing%2C+and+merging+phases.+Moreover%2C+the+proposed+method+utilises+a+Stackelberg+game+model+to+interactively+involve+the+human-driven+overtaken+vehicle+behaviours+in+the+online+optimisation+loop.+To+further+cope+with+uncertainties+caused+by+the+human+driver%2C+the+optimisation+is+solved+by+a+robust+model+predictive+controller+to+guarantee+the+avoidance+of+collisions.+Numerical+case+studies+verify+that+the+proposed+framework+is+capable+of+overtaking+not+only+a+cooperative+human-driven+vehicle+but+also+an+uncooperative+human-driven+vehicle+with+safe+and+comfortable+trajectories.&rft.publisher=Institute+of+Electrical+and+Electronics+Engineers+(IEEE)&rft.date=2024-07-01&rft.type=Proceedings+paper&rft.language=eng&rft.source=+++++In%3A++Proceedings+of+the+22nd+European+Control+Conference.++++Institute+of+Electrical+and+Electronics+Engineers+(IEEE)+(2024)++++(In+press).++&rft.format=text&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10189766%2F1%2FECC_2024_overtaking_Stackelberg_game__final_submission_.pdf&rft.identifier=https%3A%2F%2Fdiscovery.ucl.ac.uk%2Fid%2Feprint%2F10189766%2F&rft.rights=open