Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory
A game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. The general control strategy and the model predictiv...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | World Electric Vehicle Journal |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2032-6653/14/4/84 |
| _version_ | 1797603155149586432 |
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| author | Tian Tian Gang Li Ning Li Hongfei Bai |
| author_facet | Tian Tian Gang Li Ning Li Hongfei Bai |
| author_sort | Tian Tian |
| collection | DOAJ |
| description | A game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. The general control strategy and the model predictive controller based on the evolutionary game between the two players are designed to optimize their own decisions to achieve the optimal payoff for themselves, and to obtain the optimal solution to the dual-objective optimization problem, by taking the dual objectives of trajectory tracking accuracy and driving stability as the two players in the game. Considering the influence of the dynamic environment, the time-varying interactive game mechanism between two plays is introduced, the game payoff matrix is established, the weights of each subject are determined, and a dynamic replication system is constructed by weight evolution to find the optimal equilibrium strategy for the model prediction controller. The simulated results show that the designed controller can play a significant role in optimizing the trajectory tracking accuracy and driving stability compared to a single model predictive controller under different speed tracking conditions. |
| first_indexed | 2024-03-11T04:25:26Z |
| format | Article |
| id | doaj.art-b58b463ecc0046129e1bd6811e2f9001 |
| institution | Directory Open Access Journal |
| issn | 2032-6653 |
| language | English |
| last_indexed | 2024-03-11T04:25:26Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | World Electric Vehicle Journal |
| spelling | doaj.art-b58b463ecc0046129e1bd6811e2f90012023-11-17T21:49:58ZengMDPI AGWorld Electric Vehicle Journal2032-66532023-03-011448410.3390/wevj14040084Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game TheoryTian Tian0Gang Li1Ning Li2Hongfei Bai3School of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Electronics & Information Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaSchool of Automobile and Traffic Engineering, Liaoning University of Technology, Jinzhou 121001, ChinaA game theory based trajectory tracking control method is studied for the dual-objective optimization problem of trajectory tracking the accuracy and driving stability of driverless electric formula racing cars in high-speed trajectory conditions. The general control strategy and the model predictive controller based on the evolutionary game between the two players are designed to optimize their own decisions to achieve the optimal payoff for themselves, and to obtain the optimal solution to the dual-objective optimization problem, by taking the dual objectives of trajectory tracking accuracy and driving stability as the two players in the game. Considering the influence of the dynamic environment, the time-varying interactive game mechanism between two plays is introduced, the game payoff matrix is established, the weights of each subject are determined, and a dynamic replication system is constructed by weight evolution to find the optimal equilibrium strategy for the model prediction controller. The simulated results show that the designed controller can play a significant role in optimizing the trajectory tracking accuracy and driving stability compared to a single model predictive controller under different speed tracking conditions.https://www.mdpi.com/2032-6653/14/4/84trajectory tracking controldual-objective optimizationevolutionary gameevolutionary stable strategymodel predictive control |
| spellingShingle | Tian Tian Gang Li Ning Li Hongfei Bai Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory World Electric Vehicle Journal trajectory tracking control dual-objective optimization evolutionary game evolutionary stable strategy model predictive control |
| title | Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory |
| title_full | Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory |
| title_fullStr | Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory |
| title_full_unstemmed | Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory |
| title_short | Research on Trajectory Tracking Control of Driverless Electric Formula Racing Car Based on Game Theory |
| title_sort | research on trajectory tracking control of driverless electric formula racing car based on game theory |
| topic | trajectory tracking control dual-objective optimization evolutionary game evolutionary stable strategy model predictive control |
| url | https://www.mdpi.com/2032-6653/14/4/84 |
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