In the most of previous studies, social interactions between vehicles are not considered explicitly when designing decision making and motion planning module. Nevertheless, the strong interaction exists in the most of driving scenarios, especially in highway junction. This paper presents a game theoretic merging behavior control system for autonomous vehicle at on-ramp junction considering the interaction between the merging vehicle and following vehicle in the main lane. In this work, a driving style estimation is proposed to deal with the heterogeneity of driving style. Then we adopt a model predictive control (MPC) method to plan the optimal merging trajectory based on the game theoretic decision making result. Finally, simulation and Human-in-the-loop (HIL) experiment result shows the effectiveness of our approach in on-ramp merging scenario.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Game Theoretic Merging Behavior Control for Autonomous Vehicle at Highway On-Ramp


    Beteiligte:
    Wei, Chao (Autor:in) / He, Yuanhao (Autor:in) / Tian, Hanqing (Autor:in) / Lv, Yanzhi (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.11.2022


    Format / Umfang :

    2250449 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    AUTONOMOUS VEHICLE SOCIAL BEHAVIOR FOR HIGHWAY ENTRANCE RAMP MANAGEMENT

    Wei, J. / Dolan, J. / Litkouhi, B. et al. | British Library Conference Proceedings | 2013


    Autonomous vehicle social behavior for highway entrance ramp management

    Wei, Junqing / Dolan, John M. / Litkouhi, Bakhtiar | IEEE | 2013


    Highway ramp merging safety early warning system

    HUANG SONGSHAN / ZHOU LIN / WANG ZUN | Europäisches Patentamt | 2023

    Freier Zugriff

    Novel Decision-Making Strategy for Connected and Autonomous Vehicles in Highway On-Ramp Merging

    Kherroubi, Zine el abidine / Aknine, Samir / Bacha, Rebiha | IEEE | 2022