Optimal Modified Feedback Strategies in LQ Games under Control Imperfections

Game-theoretic approaches and Nash equilibrium have been widely applied across various engineering domains. However, practical challenges such as disturbances, delays, and actuator limitations can hinder the precise execution of Nash equilibrium strategies. This work explores the impact of such implementation imperfections on game trajectories and players' costs within the context of a two-player linear quadratic (LQ) nonzero-sum game. Specifically, we analyze how small deviations by one player affect the state and cost function of the other player. To address these deviations, we propose an adjusted control policy that not only mitigates adverse effects optimally but can also exploit the deviations to enhance performance. Rigorous mathematical analysis and proofs are presented, demonstrating through a representative example that the proposed policy modification achieves up to $61\%$ improvement compared to the unadjusted feedback policy and up to $0.59\%$ compared to the feedback Nash strategy.

Multi-Step Deep Koopman Network (MDK-Net) for Vehicle Control in Frenet Frame

The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers a global linear representation of nonlinear dynamical systems, making it a promising framework for optimization-based vehicle control. This paper introduces a novel deep learning-based Koopman modeling approach that employs deep neural networks to capture the full vehicle dynamics-from pedal and steering inputs to chassis states-within a curvilinear Frenet frame. The superior accuracy of the Koopman model compared to identified linear models is shown for a double lane change maneuver. Furthermore, it is shown that an MPC controller deploying the Koopman model provides significantly improved performance while maintaining computational efficiency comparable to a linear MPC.

Powertrain Hybridization for Autonomous Vehicles

The powertrains of today's hybrid electric vehicles (HEVs) are developed for human drivers and, therefore, may not be the optimum choice for future Autonomous vehicles (AVs), given that AVs can accurately manipulate their velocity profile to avoid unnecessary energy loss. In this work, we closely examine the necessary degree of hybridization for AVs compared to human drivers by deploying real-world urban driving profiles and generating equivalent AV drive cycles in a mixed autonomy scenario. We solve the optimal energy management problem for HEVs with various motor sizes from the automotive market, and demonstrate that while human drivers typically require a motor size of around 30 kW to fully benefit from hybridization, AVs can achieve similar gains with only a 12 kW motor. This greater benefit from a smaller motor size can be attributed to a more optimal torque request, allowing for higher gains from regenerative braking and a more efficient engine operation. Furthermore, We investigate the benefits of velocity smoothing for both traditional cars and HEVs and explore the role of different mechanisms contributing to fuel consumption reduction. Our analysis reveals that velocity smoothing provides greater benefits to HEVs equipped with small motors compared to non-hybrid vehicles and HEVs with larger motors.

An Automatic Tuning MPC with Application to Ecological Cruise Control

Model predictive control (MPC) is a powerful tool for planning and controlling dynamical systems due to its capacity for handling constraints and taking advantage of preview information. Nevertheless, MPC performance is highly dependent on the choice of cost function tuning parameters. In this work, we demonstrate an approach for online automatic tuning of an MPC controller with an example application to an ecological cruise control system that saves fuel by using a preview of road grade. We solve the global fuel consumption minimization problem offline using dynamic programming and find the corresponding MPC cost function by solving the inverse optimization problem. A neural network fitted to these offline results is used to generate the desired MPC cost function weight during online operation. The effectiveness of the proposed approach is verified in simulation for different road geometries.

Safe Adaptive Cruise Control with Road Grade Preview and V2V Communication

We present the design of a safe Adaptive Cruise Control (ACC) which uses road grade and lead vehicle motion preview. The ACC controller is designed by using a Model Predictive Control (MPC) framework to optimize comfort, safety, energy-efficiency and speed tracking accuracy. Safety is achieved by computing a robust invariant terminal set. The paper presents a novel approach to compute such set which is less conservative than existing methods. The proposed controller ensures safe inter-vehicle spacing at all times despite changes in the road grade and uncertainty in the predicted motion of the lead vehicle. Simulation results compare the proposed controller with a controller that does not incorporate prior grade knowledge on two scenarios including car-following and autonomous intersection crossing. The results demonstrate the effectiveness of the proposed control algorithm.