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

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

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…

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…

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…

This paper studies game-theoretic decision-making for autonomous vehicles (AVs). A receding horizon multi-player game is formulated to model the AV decision-making problem. Two classes of games, including Nash game and Stackelber games, are…

One major challenge for the adoption and acceptance of automated vehicles (AVs) is ensuring that they can make sound decisions in everyday situations that involve ethical tension. Much attention has focused on rare, high-stakes dilemmas…

Most conventional heterogeneous network selection strategies applied in heterogeneous vehicular network regard the performance of each network constant in various traffic scenarios. This assumption leads such strategies to be ineffective in…

Game-theoretic approaches are envisioned to bring human-like reasoning skills and decision-making processes for autonomous vehicles (AVs). However, challenges including game complexity and incomplete information still remain to be addressed…

In the autonomous driving area, interaction between vehicles is still a piece of puzzle which has not been fully resolved. The ability to intelligently and safely interact with other vehicles can not only improve self driving quality but…

This work develops a control framework for the autonomous overtaking of connected and automated vehicles (CAVs) in a mixed traffic environment, where the overtaken vehicle is an unconnected but interactive human-driven vehicle. The proposed…

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…

This paper introduces a hierarchical framework for population games, where individuals delegate decision-making to proxies that act within their own strategic interests. This framework extends classical population games, where individuals…

We present a new method for multi-agent planning involving human drivers and autonomous vehicles (AVs) in unsignaled intersections, roundabouts, and during merging. In multi-agent planning, the main challenge is to predict the actions of…

Underlying relationships among Multi-Agent Systems (MAS) in hazardous scenarios can be represented as Game-theoretic models. This paper proposes a new hierarchical network-based model called Game-theoretic Utility Tree (GUT), which…

In this paper I present several algorithmic techniques for improving the decision process of multiple types of agents behaving in environments where their interests are in conflict. The interactions between the agents are modelled by using…

Fully autonomous racing demands not only high-speed driving but also fair and courteous maneuvers. In this paper, we propose an autonomous racing framework that learns complex racing behaviors from expert demonstrations using hierarchical…

Assessing drivers' interaction capabilities is crucial for understanding human driving behavior and enhancing the interactive abilities of autonomous vehicles. In scenarios involving strong interaction, existing metrics focused on…

In this paper, we address the much-anticipated deployment of connected and automated vehicles (CAVs) in society by modeling and analyzing the social-mobility dilemma in a game-theoretic approach. We formulate this dilemma as a normal-form…

In this paper, we propose a search-based interactive motion planning scheme for autonomous vehicles (AVs), using a game-theoretic approach. In contrast to traditional search-based approaches, the newly developed approach considers other…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…