Driving Behavior Primitive Optimization and Inter-Primitive Game Coordinated Control for Trajectory Tracking Applications

Optimizing the composition of the desired trajectory and creating an appropriate control method are essential to improve the tracking control effect. Decomposition and optimal combination of primitives is a general and practical way of composing desired trajectories. Therefore, the purpose of this paper is to generate control-system-adapted driving behavior primitives (CDBPs) and design the corresponding control strategy. Based on the pre-constructed driving behavior primitive library extracted from driving data, a nonlinear optimization method is applied to optimize the trajectories that do not conform to the vehicle kinematic constraints during the primitive offline generalization process. In addition to providing time-series trajectory points for tracking control, the optimized primitives contain reference control quantities for linearizing the online control system, as well as optimal controller parameters generated based on fuzzy logic with respect to the category of primitives. Moreover, the control optimization problem at the primitive transition segment is solved by introducing a game-coordinated control strategy. Simulation results demonstrate that the CDBP-based control method proposed in this paper can enhance the control accuracy within the primitives and also effectively solve the smooth transition issue between the primitives.