相关论文: A Repeated Game Freeway Lane Changing Model

Enhancing simulation environments to replicate real-world driver behavior, i.e., more humanlike sim agents, is essential for developing autonomous vehicle technology. In the context of highway merging, previous works have studied the…

Game-based interactive driving simulations have emerged as versatile platforms for advancing decision-making algorithms in road transport mobility. While these environments offer safe, scalable, and engaging settings for testing driving…

The ability to estimate human intentions and interact with human drivers intelligently is crucial for autonomous vehicles to successfully achieve their objectives. In this paper, we propose a game theoretic planning algorithm that models…

Predicting the behavior of surrounding vehicles is a critical problem in automated driving. We present a novel game theoretic behavior prediction model that achieves state of the art prediction accuracy by explicitly reasoning about…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…

Enhancing simulation environments to replicate real-world driver behavior is essential for developing Autonomous Vehicle technology. While some previous works have studied the yielding reaction of lag vehicles in response to a merging car…

Decision-making is critical for lane change in autonomous driving. Reinforcement learning (RL) algorithms aim to identify the values of behaviors in various situations and thus they become a promising pathway to address the decision-making…

Merging in the form of a mandatory lane-change is an important issue in transportation research. Even when safely completed, merging may disturb the mainline traffic and reduce the efficiency or capacity of the roadway. In this paper, we…

In this paper, a synergistic combination of deep reinforcement learning and hierarchical game theory is proposed as a modeling framework for behavioral predictions of drivers in highway driving scenarios. The need for a modeling framework…

Maneuvering in dense traffic is a challenging task for autonomous vehicles because it requires reasoning about the stochastic behaviors of many other participants. In addition, the agent must achieve the maneuver within a limited time and…

In repeated interactions between individuals, we do not expect that exactly the same situation will occur from one time to another. Contrary to what is common in models of repeated games in the literature, most real situations may differ a…

We propose an integrated behavior and motion planning framework for the lane-merging problem. The behavior planner combines search-based planning with game theory to model vehicle interactions and plan multi-vehicle trajectories. Inspired…

Lane change decision-making is a complex task due to intricate vehicle-vehicle and vehicle-infrastructure interactions. Existing algorithms for lane-change control often depend on vehicles with a certain level of autonomy (e.g., autonomous…

In this paper we consider the application of Stackelberg game theory to model discretionary lane-changing in lightly congested highway setting. The fundamental intent of this model, which is parameterized to capture driver disposition…

Unsignalized intersection driving is challenging for automated vehicles. For safe and efficient performances, the diverse and dynamic behaviors of interacting vehicles should be considered. Based on a game-theoretic framework, a human-like…

Simulation has long been an essential part of testing autonomous driving systems, but only recently has simulation been useful for building and training self-driving vehicles. Vehicle behavioural models are necessary to simulate the…

Lane-change maneuver has always been a challenging task for both manual and autonomous driving, especially in an urban setting. In particular, the uncertainty in predicting the behavior of other vehicles on the road leads to indecisive…

In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed…

This paper presents an MFG-based decision-making framework for autonomous driving in heterogeneous traffic. To capture diverse human behaviors, we propose a quantitative driving style representation that maps abstract traits to parameters…

The focus of this paper is to propose a driver model that incorporates human reasoning levels as actions during interactions with other drivers. Different from earlier work using game theoretical human reasoning levels, we propose a dynamic…