Reachable Set Modeling Approach for Autonomous Vehicle's Dynamic Conflict Control

Authors

Cao Kai, School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255049, China;
Xiufang Liu, School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255049, China;
Yang Xu, School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255049, China;
Shen Peng, School of Traffic & Vehicle Engineering, Shandong University of Technology, Zibo 255049, China;

Abstract

Abstract: Aiming at the problem of active safety control modeling for autonomous vehicles, a combined method using the formal modeling and the dynamic non-cooperative game theory was proposed for discussing a control strategy of trajectory tracking and collision avoidance under dynamic conflict condition between autonomous vehicles. And it was proposed to divide the system control into three modes: trajectory tracking, collision avoidance and switching between trajectory tracking and collision avoidance. Taking into account the complexity as a hybrid systems and the existence of the trajectory tracking error for autonomous vehicle, a modeling approach based on reachable set was proposed for the collision avoidance control of vehicle. In addition, to ensure the stability of the trajectory tracking of vehicles, a switching algorithm with hysteresis characteristics was proposed. The system validation shows that the best stability is achieved for the proposed algorithm when the threshold α₁ = 0.05 and α₂ = 0.08. And the division of system control plays the advantage of independent model, which reduces the computational cost.

Recommended Citation

Kai, Cao; Liu, Xiufang; Xu, Yang; and Peng, Shen (2020) "Reachable Set Modeling Approach for Autonomous Vehicle's Dynamic Conflict Control," Journal of System Simulation: Vol. 29: Iss. 8, Article 4.
DOI: 10.16182/j.issn1004731x.joss.201708004
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss8/4

First Page

1658

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201708004

Last Page

1666

CLC

X913.3;U471.15

Recommended Citation

Cao Kai, Liu Xiufang, Yang Xu, Shen Peng. Reachable Set Modeling Approach for Autonomous Vehicle's Dynamic Conflict Control[J]. Journal of System Simulation, 2017, 29(8): 1658-1666.

DOI

10.16182/j.issn1004731x.joss.201708004