A generalized Nash equilibrium approach for optimal control problems of autonomous cars. (20th July 2017)

• Record Type: Journal Article
• Authors: Dreves, Axel; Gerdts, Matthias
• Is Part Of: Optimal control applications and methods. Volume 39:Number 1(2018)
• Page Start: 326
• Page End: 342
• Publication Date: 2017-07-20
• Subjects: autonomous vehicles -- existence of an equilibrium -- generalized Nash equilibrium problem -- optimal control -- ordinary differential equations -- traffic scenarios; Control theory -- Periodicals; Mathematical optimization -- Periodicals; 629.8312
• DOI: 10.1002/oca.2348
• Languages: English
• ISSNs: 0143-2087

Abstract

Summary: We consider optimal control problems with ordinary differential equations that are coupled by shared, possibly nonconvex, constraints. For these problems, we use the generalized Nash equilibrium approach and provide a reformulation of normalized Nash equilibria as solutions to a single optimal control problem. By this reformulation, we are able to prove existence, and in some settings, exploiting convexity properties, we also get a limited number or even uniqueness of the normalized Nash equilibria. Then, we use our approach to discuss traffic scenarios with several autonomous vehicles, whose dynamics is described through differential equations, and the avoidance of collisions couples the optimal control problems of the vehicles. For the solution to the discretized problems, we prove strong convergence of the states and weak convergence of the controls. Finally, using existing optimal control software, we show that the generalized Nash equilibrium approach leads to reasonable results for a crossing scenario with different vehicle models.