Yuan, Shaowei; Jiang, Jingjing; Spurgeon, Sarah; Chen, Boli; (2025) Safe Control of Autonomous Vehicles in Overtaking Maneuvers Using Game-Theoretic Learning-Based Predictive Controller. In: 2025 European Control Conference (ECC). (pp. pp. 2237-2242). IEEE: Thessaloniki, Greece.

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Abstract

This work proposes a safe control strategy for an autonomous vehicle to overtake a human-driven vehicle (HDV) using a predictive safety filter (PSF) mechanism that hierarchically combines an end-to-end Reinforcement Learning (RL) agent with a predictive controller. To create a more realistic RL environment, a Stackelberg game based on a first-principles model is employed to capture the HDV’s real-time response during overtaking rather than relying on a predefined empirical or purely statistical driver model. In the lower layer, a distributionally robust chance-constrained predictive controller is implemented to manage uncertainties in HDV behavior, ensuring robust safety guarantees. The effectiveness of the proposed synthetic controller is verified in a gym environment with comparisons against traditional schemes.

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