A Mixed-Logical-Dynamical model for Automated Driving on highways
It addresses safe and efficient coordination for autonomous vehicles on highways, but the approach is incremental as it applies existing game-theoretic and hybrid system concepts to a specific domain.
The paper proposes a hybrid decision-making framework for autonomous driving on highways, modeling vehicle dynamics as Mixed-Logical-Dynamical systems and formulating coordination as a mixed-integer potential game to balance individual optimality and safety.
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 simple 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.