eprintid: 10189766
rev_number: 10
eprint_status: archive
userid: 699
dir: disk0/10/18/97/66
datestamp: 2024-03-26 14:12:48
lastmod: 2024-03-26 14:12:48
status_changed: 2024-03-26 14:12:48
type: proceedings_section
metadata_visibility: show
sword_depositor: 699
creators_name: Yu, Sheng
creators_name: Chen, Boli
creators_name: Jaimoukha, Imad M
creators_name: Evangelou, Simos A
title: Game-Theoretic Model Predictive Control for Safety-Assured Autonomous Vehicle Overtaking in Mixed-Autonomy Environment
ispublished: inpress
divisions: UCL
divisions: B04
divisions: C05
divisions: F46
note: This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.
abstract: 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, subject to separate collision-avoidance constraints in lane changing, passing, and merging phases. Moreover, 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, 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.
date: 2024-07-01
date_type: published
publisher: Institute of Electrical and Electronics Engineers (IEEE)
official_url: https://ieeexplore.ieee.org/Xplore/home.jsp
oa_status: green
full_text_type: other
language: eng
primo: open
primo_central: open_green
verified: verified_manual
elements_id: 2262546
lyricists_name: Chen, Boli
lyricists_id: BCHEB76
actors_name: Chen, Boli
actors_id: BCHEB76
actors_role: owner
full_text_status: public
pres_type: paper
publication: 22nd European Control Conference
event_title: 22nd European Control Conference (ECC)
event_dates: 25th-28th June 2024
book_title: Proceedings of the 22nd European Control Conference
citation:        Yu, Sheng;    Chen, Boli;    Jaimoukha, Imad M;    Evangelou, Simos A;      (2024)    Game-Theoretic Model Predictive Control for Safety-Assured Autonomous Vehicle Overtaking in Mixed-Autonomy Environment.                     In:  Proceedings of the 22nd European Control Conference.    Institute of Electrical and Electronics Engineers (IEEE)    (In press).    Green open access   
 
document_url: https://discovery.ucl.ac.uk/id/eprint/10189766/1/ECC_2024_overtaking_Stackelberg_game__final_submission_.pdf