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

18 Scopus citations


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.
Number of pages8
ISBN (Electronic)9783907144008
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


Conference18th European Control Conference, ECC 2019

All Science Journal Classification (ASJC) codes

  • Instrumentation
  • Control and Optimization


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