Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles

Abstract

In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way. Each vehicle computes its control input as a Nash equilibrium of a game determined by the priority order based on its own belief: each of non-malicious vehicle bases its order on the law, while a malicious one considers itself as having priority. To illustrate the effectiveness of our method, we provide numerical simulations, with different scenarios given by different cases of malicious vehicles.

Game-theoretic Modeling of Traffic in Unsignalized Intersection Network for Autonomous Vehicle Control Verification and Validation

“…Thus, well-verified autonomous driving systems for unsignalized intersections may deliver significant safety benefits. Indeed, many research works on autonomous vehicle control for intersections in the literature, including [17], [23]- [26], deal with unsignalized intersections, although they do not always explicitly point this out.…”