Human-robot interaction for truck platooning using hierarchical dynamic games

Elis Stefansson, Jaime F. Fisac, Dorsa Sadigh, S. Shankar Sastry, Karl H. Johansson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

This paper proposes a controller design framework for autonomous truck platoons to ensure safe interaction with a human-driven car. The interaction is modelled as a hierarchical dynamic game, played between the human driver and the nearest truck in the platoon. The hierarchical decomposition is temporal with a high-fidelity tactical horizon predicting immediate interactions and a low-fidelity strategic horizon estimating long-horizon behaviour. The hierarchical approach enables feasible computations where human uncertainties are represented by the quantal response model, and the truck is supposed to maximise its payoff. The closed-loop control is validated via case studies using a driving simulator, where we compare our approach with a short-horizon alternative using only the tactical horizon. The results indicate that our controller is more situation-aware resulting in natural and safe interactions.

Original languageEnglish (US)
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3165-3172
Number of pages8
ISBN (Electronic)9783907144008
DOIs
StatePublished - Jun 2019
Externally publishedYes
Event18th European Control Conference, ECC 2019 - Naples, Italy
Duration: Jun 25 2019Jun 28 2019

Publication series

Name2019 18th European Control Conference, ECC 2019

Conference

Conference18th European Control Conference, ECC 2019
CountryItaly
CityNaples
Period6/25/196/28/19

All Science Journal Classification (ASJC) codes

  • Instrumentation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Human-robot interaction for truck platooning using hierarchical dynamic games'. Together they form a unique fingerprint.

  • Cite this

    Stefansson, E., Fisac, J. F., Sadigh, D., Sastry, S. S., & Johansson, K. H. (2019). Human-robot interaction for truck platooning using hierarchical dynamic games. In 2019 18th European Control Conference, ECC 2019 (pp. 3165-3172). [8795627] (2019 18th European Control Conference, ECC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ECC.2019.8795627