A Game-Theoretic Framework for Autonomous Vehicles Velocity Control: Bridging Microscopic Differential Games and Macroscopic Mean Field Games
A Game-Theoretic Framework for Autonomous Vehicles Velocity Control: Bridging Microscopic Differential Games and Macroscopic Mean Field Games
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DOI：
10.3934/dcdsb.2020131
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发表时间：
2019-03
期刊：
影响因子：
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通讯作者：
Kuang Huang;Xuan Di;Q. Du;Xi Chen
中科院分区：
文献类型：
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作者：
Kuang Huang;Xuan Di;Q. Du;Xi Chen
本文提出了一个有效的计算框架，纵向速度控制的大量自动驾驶汽车（AV）和发展的交通流理论的AV。我们的目标不是明确地假设自动驾驶汽车是如何驾驶的，而是将未来的自动驾驶汽车设计为理性的，效用优化的代理，在一段时间的规划范围内不断选择最佳速度。在大量交互AV的情况下，该设计问题可能在计算上变得难以处理。本文的目的是解决这样的挑战，采用平均场近似和推导出一个平均场游戏（MFG）的有限差分游戏与无限数量的代理。建议的微观宏观模型允许一个定义个人在微观层面上的效用优化代理，同时将丰富的微观行为的宏观模型。与已有的将MFG应用于交通流模型的研究不同，本研究提供了一个将MFG应用于自主车辆速度控制的系统框架。基于MFG的AV控制器被示出为比基于LWR的控制器更快地缓解交通堵塞。MFG还体现了经典的交通流模型与行为解释，从而为自动驾驶汽车提供了一个新的交通流理论。
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.