相关论文: A Repeated Game Freeway Lane Changing Model

In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of…

Lane change is a crucial vehicle maneuver which needs coordination with surrounding vehicles. Automated lane changing functions built on rule-based models may perform well under pre-defined operating conditions, but they may be prone to…

This paper proposes a cooperative lane changing strategy using a transferable utility games framework. This allows vehicles to engage in transactions where gaps in traffic are created in exchange for monetary compensation. The proposed…

Dynamic game theory is an increasingly popular tool for modeling multi-agent, e.g. human-robot, interactions. Game-theoretic models presume that each agent wishes to minimize a private cost function that depends on others' actions. These…

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

A major challenge for autonomous vehicles is handling interactive scenarios, such as highway merging, with human-driven vehicles. A better understanding of human interactive behaviour could help address this challenge. Such understanding…

This paper proposes a model to estimate the probability of a vehicle reaching a near-term goal state using one or multiple lane changes based on parameters corresponding to traffic conditions and driving behavior. The proposed model not…

Merging is, in general, a challenging task for both human drivers and autonomous vehicles, especially in dense traffic, because the merging vehicle typically needs to interact with other vehicles to identify or create a gap and safely merge…

For prediction of interacting agents' trajectories, we propose an end-to-end trainable architecture that hybridizes neural nets with game-theoretic reasoning, has interpretable intermediate representations, and transfers to downstream…

Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…

Modeling the decision-making behavior of vehicles presents unique challenges, particularly during unprotected left turns at intersections, where the uncertainty of human drivers is especially pronounced. In this context, connected…

Understanding and predicting highway lane-change maneuvers is essential for driving modeling and its automation. The development of data-based lane-changing decision-making algorithms is nowadays in full expansion. We compare empirically in…

As automated vehicles (AVs) enter mixed traffic, proactively anticipating the evolution of human driving behavior during critical interactions, such as lane changes, is essential. However, classical Evolutionary Game Theory (EGT) fails to…

Although significant progress has been made in decision-making for automated driving, challenges remain for deployment in the real world. One challenge lies in addressing interaction-awareness. Most existing approaches oversimplify…

Predicting the outcomes of cyber-physical systems with multiple human interactions is a challenging problem. This article reviews a game theoretical approach to address this issue, where reinforcement learning is employed to predict the…

Characterizing and understanding lane-changing behavior in the presence of automated vehicles (AVs) is crucial to ensuring safety and efficiency in mixed traffic. Accordingly, this study aims to characterize the interactions between the…

Lane-change maneuvers are a leading cause of highway accidents, underscoring the need for accurate intention prediction to improve the safety and decision-making of autonomous driving systems. While prior studies using machine learning and…

Ramp merging is a critical maneuver for road safety and traffic efficiency. Most of the current automated driving systems developed by multiple automobile manufacturers and suppliers are typically limited to restricted access freeways only.…

Safe navigation in dense, urban driving environments remains an open problem and an active area of research. Unlike typical predict-then-plan approaches, game-theoretic planning considers how one vehicle's plan will affect the actions of…