A Mixed-Logical-Dynamical model for automated driving on highways

Filippo Fabiani; Sergio Grammatico

doi:10.1109/CDC.2018.8619852

A Mixed-Logical-Dynamical model for automated driving on highways

Team Bart De Schutter

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

11 Citations (Scopus)

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 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.

Original language	English
Title of host publication	Proceedings of the 57th IEEE Conference on Decision and Control (CDC 2018)
Editors	Andrew R. Teel, Magnus Egerstedt
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1011-1016
ISBN (Electronic)	978-1-5386-1395-5
DOIs	https://doi.org/10.1109/CDC.2018.8619852
Publication status	Published - 2018
Event	CDC 2018: 57th IEEE Conference on Decision and Control - Miami, United States Duration: 17 Dec 2018 → 19 Dec 2018

Conference

Conference	CDC 2018: 57th IEEE Conference on Decision and Control
Country/Territory	United States
City	Miami
Period	17/12/18 → 19/12/18

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10.1109/CDC.2018.8619852

Cite this

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title = "A Mixed-Logical-Dynamical model for automated driving on highways",

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 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.",

author = "Filippo Fabiani and Sergio Grammatico",

year = "2018",

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booktitle = "Proceedings of the 57th IEEE Conference on Decision and Control (CDC 2018)",

publisher = "IEEE",

address = "United States",

note = "CDC 2018: 57th IEEE Conference on Decision and Control ; Conference date: 17-12-2018 Through 19-12-2018",

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Fabiani, F & Grammatico, S 2018, A Mixed-Logical-Dynamical model for automated driving on highways. in AR Teel & M Egerstedt (eds), Proceedings of the 57th IEEE Conference on Decision and Control (CDC 2018). IEEE, Piscataway, NJ, USA, pp. 1011-1016, CDC 2018: 57th IEEE Conference on Decision and Control, Miami, United States, 17/12/18. https://doi.org/10.1109/CDC.2018.8619852

A Mixed-Logical-Dynamical model for automated driving on highways. / Fabiani, Filippo; Grammatico, Sergio.
Proceedings of the 57th IEEE Conference on Decision and Control (CDC 2018). ed. / Andrew R. Teel; Magnus Egerstedt. Piscataway, NJ, USA: IEEE, 2018. p. 1011-1016.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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A Mixed-Logical-Dynamical model for automated driving on highways

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