A Mixed-Logical-Dynamical model for Automated Driving on highways

TL;DR

This paper introduces a hybrid decision-making framework for autonomous highway driving, modeling vehicle dynamics as a Mixed-Logical-Dynamical system and using game theory to ensure safety and efficiency.

Contribution

It presents a novel hybrid model combining logical and dynamical aspects for autonomous driving and formulates the coordination as a mixed-integer potential game.

Findings

Effective modeling of vehicle dynamics as Mixed-Logical-Dynamical systems.

Development of simple driving rules to prevent conflicts.

Equilibrium solutions balancing safety and individual goals.

Abstract

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.