A Mixed-Logical-Dynamical model for Automated Driving on highways
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📝 Original Info
- Title: A Mixed-Logical-Dynamical model for Automated Driving on highways
- ArXiv ID: 1803.10678
- Date: 2018-03-29
- Authors: Filippo Fabiani and Sergio Grammatico
📝 Abstract
We propose a hybrid decision-making framework for safe and efficient autonomous driving of selfish vehicles on highways. Specifically, we model the dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple driving rules to prevent potential sources of conflict among neighboring vehicles. We formalize the coordination problem as a generalized mixed-integer potential game, where an equilibrium solution generates a sequence of mixed-integer decisions for the vehicles that trade off individual optimality and overall safety.📄 Full Content
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