相关论文: Hierarchical Game-Based Multi-Agent Decision-Makin…

In this paper, we propose a decision making algorithm for autonomous vehicle control at a roundabout intersection. The algorithm is based on a game-theoretic model representing the interactions between the ego vehicle and an opponent…

The evolution of existing transportation systems,mainly driven by urbanization and increased availability of mobility options, such as private, profit-maximizing ride-hailing companies, calls for tools to reason about their design and…

Traffic scenarios are inherently interactive. Multiple decision-makers predict the actions of others and choose strategies that maximize their rewards. We view these interactions from the perspective of game theory which introduces various…

This paper proposes a novel decision-making framework for autonomous vehicles (AVs), called predictor-corrector potential game (PCPG), composed of a Predictor and a Corrector. To enable human-like reasoning and characterize agent…

While there has been an increasing focus on the use of game theoretic models for autonomous driving, empirical evidence shows that there are still open questions around dealing with the challenges of common knowledge assumptions as well as…

This paper presents a game-theoretic strategy for racing, where the autonomous ego agent seeks to block a racing opponent that aims to overtake the ego agent. After a library of trajectory candidates and an associated reward matrix are…

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…

Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can…

In this paper, we present a hierarchical framework for decision-making and planning on highway driving tasks. We utilized intelligent driving models (IDM and MOBIL) to generate long-term decisions based on the traffic situation flowing…

To address the challenge of insufficient interactivity and behavioral diversity in autonomous driving decision-making, this paper proposes a Cognitive Hierarchical Agent for Reasoning and Motion Stylization (CHARMS). By leveraging Level-k…

When a vehicle drives on the road, its behaviors will be affected by surrounding vehicles. Prediction and decision should not be considered as two separate stages because all vehicles make decisions interactively. This paper constructs the…

For autonomous vehicles, effective behavior planning is crucial to ensure safety of the ego car. In many urban scenarios, it is hard to create sufficiently general heuristic rules, especially for challenging scenarios that some new human…

To address the coordination issue of connected automated vehicles (CAVs) at urban scenarios, a game-theoretic decision-making framework is proposed that can advance social benefits, including the traffic system efficiency and safety, as…

Cooperatively planning for multiple agents has been proposed as a promising method for strategic and motion planning for automated vehicles. By taking into account the intent of every agent, the ego agent can incorporate future interactions…

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like…

In order to drive effectively, a driver must be aware of how they can expect other vehicles' behaviour to be affected by their decisions, and also how they are expected to behave by other drivers. One common family of methods for addressing…

Accurate and robust trajectory prediction of neighboring agents is critical for autonomous vehicles traversing in complex scenes. Most methods proposed in recent years are deep learning-based due to their strength in encoding complex…

The evolution of existing transportation systems, mainly driven by urbanization and increased availability of mobility options, such as private, profit-maximizing ride-hailing companies, calls for tools to reason about their design and…

This paper presents a hierarchical planning algorithm for racing with multiple opponents. The two-stage approach consists of a high-level behavioral planning step and a low-level optimization step. By combining discrete and continuous…

To improve the safety and efficiency of the intelligent transportation system, particularly in complex urban scenarios, in this paper a game theoretic decision-making framework is designed for connected automated vehicles (CAVs) at…