Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Hierarchical Game-Theoretic Planning for Autonomous Vehicles
Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA..
Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94720 USA..
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).
Stanford Univ, Dept Comp Sci, Stanford, CA 94305 USA..
Show others and affiliations
2019 (English)In: 2019 International Conference on Robotics and Automation, (ICRA) / [ed] Howard, A Althoefer, K Arai, F Arrichiello, F Caputo, B Castellanos, J Hauser, K Isler, V Kim, J Liu, H Oh, P Santos, V Scaramuzza, D Ude, A Voyles, R Yamane, K Okamura, A, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 9590-9596Conference paper, Published paper (Refereed)
Abstract [en]

The actions of an autonomous vehicle on the road affect and are affected by those of other drivers, whether overtaking, negotiating a merge, or avoiding an accident. This mutual dependence, best captured by dynamic game theory, creates a strong coupling between the vehicle's planning and its predictions of other drivers' behavior, and constitutes an open problem with direct implications on the safety and viability of autonomous driving technology. Unfortunately, dynamic games are too computationally demanding to meet the real-time constraints of autonomous driving in its continuous state and action space. In this paper, we introduce a novel game-theoretic trajectory planning algorithm for autonomous driving, that enables real-time performance by hierarchically decomposing the underlying dynamic game into a long-horizon "strategic" game with simplified dynamics and full information structure, and a short-horizon "tactical" game with full dynamics and a simplified information structure. The value of the strategic game is used to guide the tactical planning, implicitly extending the planning horizon, pushing the local trajectory optimization closer to global solutions, and, most importantly, quantitatively accounting for the autonomous vehicle and the human driver's ability and incentives to influence each other. In addition, our approach admits non-deterministic models of human decision-making, rather than relying on perfectly rational predictions. Our results showcase richer, safer, and more effective autonomous behavior in comparison to existing techniques.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 9590-9596
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-265471DOI: 10.1109/ICRA.2019.8794007ISI: 000494942307005Scopus ID: 2-s2.0-85071500170ISBN: 978-1-5386-6026-3 (print)OAI: oai:DiVA.org:kth-265471DiVA, id: diva2:1378939
Conference
2019 International Conference on Robotics and Automation, ICRA 2019; Palais des Congres de Montreal, Montreal; Canada; 20 May 2019 through 24 May 2019
Note

QC 20191216

Available from: 2019-12-16 Created: 2019-12-16 Last updated: 2019-12-19Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Stefansson, Elis
By organisation
Mathematics (Dept.)
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 2 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf