C14/18/068; Fonds de la Recherche Scientifique -FNRS and the Fonds Wetenschappelijk Onderzoek -Vlaanderen under EOS project no 30468160 (SeLMA). Johan Suykens and Panagiotis Patrinos are affiliated to Leuven.AI -
We consider the problem of interaction-aware motion planning for automated vehicles in general traffic situations. We model the interaction between the controlled vehicle and surrounding road users using a generalized potential game, in which each road user is assumed to minimize a common cost function subject to shared (collision avoidance) constraints. We propose a quadratic penalty method to deal with the shared constraints and solve the resulting optimal control problem online using an Augmented Lagrangian method based on PANOC. Secondly, we present a simple methodology for learning preferences and constraints of other road users online, based on observed behavior. Through extensive simulations in a highway merging scenario, we demonstrate the practical efficacy of the overall approach as well as the benefits of the proposed online learning scheme.
We present a novel control strategy for controlling autonomous vehicles in general traffic situations which accounts for the mutual interactions between the controlled vehicle and other road users. More specifically, the interaction is modelled as a generalized potential game, where each road user is assumed to minimize a shared cost function subject to shared (collision avoidance) constraints. The shared cost allows the controlled vehicle to cooperate with other road users, while safety guarantees follow from the imposed hard collision avoidance constraints and the introduction of a model predictive control feedback scheme. In the case where the incentives and constraints of other road users, i.e., human drivers, are unknown, we propose a natural and practical methodology for learning this information online from observed data and incorporating it directly into the solution methodology for the game formulation. Extensive numerical simulations in a realistic highway merging scenario have been performed, verifying the practical usability of the developed methodologies.
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