A Synthesis of Algorithms Determining a Safe Trajectory in a Group of Autonomous Vehicles Using a Sequential Game and Neural Network

Abstract

This paper presents a solution to the problem of providing an autonomous vehicle with a safe control task when moving around many other autonomous vehicles. This is achieved by developing an appropriate computer control algorithm that takes into account the possible risk of a collision resulting from both the impact of environmental disturbances and the imperfection of the rules of maneuvering in situations where many vehicles pass each other, giving the control process a decisive character. For this purpose, three types of algorithms were synthesized: kinematic and dynamic optimization with neural domains, as well as sequential game control of an autonomous vehicle. The control algorithms determine a safe trajectory, which is implemented by the actuators of the autonomous vehicle. Computer simulations of the control algorithms in the Matlab/Simulink software allow for their comparative analysis in terms of meeting the criteria for the optimality and safety of an autonomous vehicle when passing a larger number of other autonomous vehicles. For this purpose, scenarios of multidirectional and one-way traffic of autonomous vehicles were used.