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

Filippo Fabiani, Sergio Grammatico

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

5 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 languageEnglish
Title of host publicationProceedings of the 57th IEEE Conference on Decision and Control (CDC 2018)
EditorsAndrew R. Teel, Magnus Egerstedt
Place of PublicationPiscataway, NJ, USA
PublisherIEEE
Pages1011-1016
ISBN (Electronic)978-1-5386-1395-5
DOIs
Publication statusPublished - 2018
EventCDC 2018: 57th IEEE Conference on Decision and Control - Miami, United States
Duration: 17 Dec 201819 Dec 2018

Conference

ConferenceCDC 2018: 57th IEEE Conference on Decision and Control
CountryUnited States
CityMiami
Period17/12/1819/12/18

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