Game Theory-Based Decision-Making and Iterative Predictive Lateral Control for Cooperative Obstacle Avoidance of Guided Vehicle Platoon

Abstract

This paper presents a systematic decision-making and lateral control framework to realize cooperative obstacle avoidance (OA) of the guided vehicle platoons safely and integrally in multiple scenarios. In the control framework, a centralized decision-making strategy is developed to determine optimal overtaking maneuver (i.e., OA) in the dynamic driving environment, and a distributed lateral controller with a safe driving corridor planner is designed for lateral reference trajectories tracking. The proposed decision-making strategy formulates the influence mechanism between the controlled platoon and potential surrounding vehicles based on an interactive behavior model. Moreover, a game theory-based algorithm is applied to calculate safe timing of overtaking and select efficient overtaking mode while avoiding the negative impact on the surrounding vehicles. For the distributed lateral control strategy, the control problem is solved by a linear time-varying model predictive control (LTV-MPC) algorithm so as to reduce the computational burden. Furthermore, to improve the accuracy of LTV-MPC algorithm in varying scenarios, a tailored iterative control logic is presented. The performance of the proposed framework is evaluated on the dSPACE hardware-in-loop platform. The results show that the proposed framework works well under various test scenarios involving multiple static and moving obstacles.