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首页> 外文期刊>Discrete and continuous dynamical systems >A GAME-THEORETIC FRAMEWORK FOR AUTONOMOUS VEHICLES VELOCITY CONTROL: BRIDGING MICROSCOPIC DIFFERENTIAL GAMES AND MACROSCOPIC MEAN FIELD GAMES
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A GAME-THEORETIC FRAMEWORK FOR AUTONOMOUS VEHICLES VELOCITY CONTROL: BRIDGING MICROSCOPIC DIFFERENTIAL GAMES AND MACROSCOPIC MEAN FIELD GAMES

机译：自主车辆速度控制的游戏 - 理论框架：桥接微观差异游戏和宏观平均野外游戏

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摘要

This paper proposes an efficient computational framework for longitudinal velocity control of a large number of autonomous vehicles (AVs) and develops a traffic flow theory for AVs. Instead of hypothesizing explicitly how AVs drive, our goal is to design future AVs as rational, utility-optimizing agents that continuously select optimal velocity over a period of planning horizon. With a large number of interacting AVs, this design problem can become computationally intractable. This paper aims to tackle such a challenge by employing mean field approximation and deriving a mean field game (MFG) as the limiting differential game with an infinite number of agents. The proposed micro-macro model allows one to define individuals on a microscopic level as utility-optimizing agents while translating rich microscopic behaviors to macroscopic models. Different from existing studies on the application of MFG to traffic flow models, the present study offers a systematic framework to apply MFG to autonomous vehicle velocity control. The MFG-based AV controller is shown to mitigate traffic jam faster than the LWR-based controller. MFG also embodies classical traffic flow models with behavioral interpretation, thereby providing a new traffic flow theory for AVs.
机译：本文提出了一种有效的计算框架，用于大量自动车辆（AVS）的纵向速度控制，并为AVS开发交通流理论。而不是明确假设AVS驱动器，我们的目标是将未来的AVS设计为理性，公用事业优化代理，在规划地平线的一段时间内连续选择最佳速度。通过大量的交互AVS，这种设计问题可以变得计算地难以解决。本文旨在通过采用平均场近似并导出平均场比赛（MFG）作为具有无限数量代理的限制差异游戏来解决这种挑战。所提出的微型宏模型允许人们将微观水平上的个体定义为公用事业优化剂，同时将富有的显微尺寸的行为转化为宏观模型。与现有研究有关将MFG应用于交通流模型的现有研究，本研究提供了一种系统框架，用于将MFG应用于自主车辆速度控制。显示了基于MFG的AV控制器，用于减轻与基于LWR的控制器更快的交通堵塞。 MFG还体现了具有行为解释的古典交通流量模型，从而为AVS提供了新的交通流量理论。

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  • 来源
    《Discrete and continuous dynamical systems》 |2020年第12期|4869-4903|共35页
  • 作者

    KUANG HUANG; XUAN DI; QIANG DU; XI CHEN;

  • 作者单位

    Department of Applied Physics and Applied Mathematics Columbia University New York NY 10027 United States;

    Department of Civil Engineering and Engineering Mechanics and Data Science Institute Columbia University New York NY 10027 United States;

    Department of Applied Physics and Applied Mathematics and Data Science Institute Columbia University New York NY 10027 United States;

    Department of Computer Science Columbia University New York NY 10027 United States;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Autonomous vehicles control; mean field game; differential game; micro-macro limit; ∈-Nash equilibrium;

    机译：自动车辆控制;平均场比赛;差异游戏;微米限制;∈-nash均衡;
  • 入库时间 2022-08-18 22:04:00

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