Nash, Stackelberg and hybrid games : studies for game-theoretic control of autonomous vehicles
No Thumbnail Available
Authors
Meeting name
Sponsors
Date
Journal Title
Format
Thesis
Subject
Abstract
This paper studies game-theoretic decision-making for autonomous vehicles (AVs). A receding horizon multi-player game is formulated to model the AV decision-making problem. Two classes of games, including Nash game and Stackelberg games, are developed respectively. For each of the two games, two solution settings, including pairwise games and multi-player games, are introduced, respectively, to solve the game in multi-agent scenarios. Comparative studies are conducted via statistical simulations to gain understandings of the performance of the two classes of games and of the two solution settings, respectively. The simulations are conducted in intersection-crossing scenarios, and the game performance is quantified by three metrics: safety, travel efficiency, and computational time. Many kinds of controllers based on game-theory have been developed for autonomous vehicles. This paper develops a novel hybrid Stackelberg-potential game, which is the basis for a new autonomous vehicle control scheme. This paper develops the hybrid game from its base counterparts. Numerical studies are performed to compare this hybrid game with seperate Stackelberg and potential games.
Table of Contents
DOI
PubMed ID
Degree
M.S.