Switching Strategies of Collision Avoidance and Tracking Control for Vehicles Based on Non-cooperative Game and Model Predictive Control

N. Isoda, K. Kogiso, T. Asai
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引用次数: 5

Abstract

This paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance and the model predictive control methods. Here, the switching structure may lead to chattering. So, the strategy that we propose finally has a hysteresis to adjust a frequency of the chattering. In a numerical verification, we illustrate some simulation results when the proposed algorithms are used.
基于非合作博弈和模型预测控制的车辆避碰与跟踪控制切换策略
本文提出了两种切换策略,以避免与另一车辆碰撞,并跟踪到给定的参考轨迹。在追逃博弈的基础上,引入了基于向后可达集的避碰过程,并采用模型预测控制实现轨迹跟踪。该切换策略将避碰控制与模型预测控制相结合。在这里,开关结构可能导致抖振。因此,我们提出的策略最终具有一个滞回来调节抖振的频率。在数值验证中,我们举例说明了使用所提出算法时的一些仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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