Scalable Game-Theoretic Decision-Making for Self-Driving Cars at Unsignalized Intersections

Yuan, Mingfeng; Shan, Jinjun; Schofield, Hunter

doi:10.1109/tie.2023.3290255

Cited by 3 publications

(1 citation statement)

References 21 publications

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“…Additionally, they also [32] proposed a trajectory planning model based on fuzzy coalitional game theory to address the social and individual benefits between vehicles. Similar research endeavors can be found in the literature [33][34][35].…”

Section: Introductionmentioning

confidence: 71%

Game Scheduling for Vehicle Platoons at Autonomous Intersection Accommodating Priority Passage Requests

Hu,

Peng

2024

IEEE Access

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Addressing the human-centric needs in vehicle scheduling at intersections poses a significant challenge. In this paper, we propose a game scheduling method to address the problem of platoon scheduling while considering priority passage requests. Firstly, we construct a coalition game-based platoon scheduling model. Within this model, a kernel function searches for the optimal coalition group within the kernel set to ensure that participants, such as platoons, gain higher payoffs by joining the coalition than they would individually. The coalition payoff function determines the optimal passage order. Secondly, we design a baseline strategy where the payoff and action obtained by the priority passage platoon in the coalition game serve as the baseline values. Finally, based on this strategy, we develop a bargaining game model where the priority passage platoon acts as the bargainer, while other platoons act as the other party, with baseline payoff and action serving as constraints. The Nash equilibrium identifies the optimal passage order for the priority passage platoon. We conduct 3 experiments: experiment 1 evaluates the effectiveness of the coalition game model; experiment 2 tests the effectiveness of the bargaining game model; and experiment 3 assesses the effectiveness of the game scheduling method in reducing vehicle travel costs and compares it with existing methods. The results demonstrate that our proposed game scheduling method not only reduces the travel costs of the priority passage platoon but also minimizes its impact on other vehicles to the greatest extent possible.INDEX TERMS Autonomous intersection, baseline payoff, game scheduling, priority passage request, vehicle platoon.

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Section: Introductionmentioning

confidence: 71%

Game Scheduling for Vehicle Platoons at Autonomous Intersection Accommodating Priority Passage Requests

Hu,

Peng

2024

IEEE Access

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ROS2-Gazebo Simulator for Drone Applications

Haridevan,

Kang,

Yuan

et al. 2024

2024 International Conference on Unmanned Aircraft Systems (ICUAS)

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Automatic driving decision-making on left-turn behavior at unsignalized intersections

Cai,

Guan,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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Unsignalized intersections are a common scenario in urban areas. Therefore, it is necessary to consider decisions at unsignalized intersections. Left-turn behavior is used as a representative because there are more cases of interactions with other traffic participants under left-turn behavior. First, the paper proposes a way to improve the efficiency and comfort of the host vehicle when the intersection is obscured. Second, a dynamic game theory is proposed based on the potential conflict area of the intersection, considering safety and traffic efficiency. An estimation of the aggressiveness model based on the potential conflict area is proposed. Thirdly, a driving scheme is proposed by adjusting the passing scheme when the game is yielding. Finally, it was simulated for validation at unsignalized intersections by VTD (Virtual Test Drive). Simulation results show that the proposed method can balance comfort and passing efficiency through unsignalized intersections in the presence of occlusion. The average speed of the proposed method through the intersection is higher when interacting with traffic participants.

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Scalable Game-Theoretic Decision-Making for Self-Driving Cars at Unsignalized Intersections

Cited by 3 publications

References 21 publications

Game Scheduling for Vehicle Platoons at Autonomous Intersection Accommodating Priority Passage Requests

Game Scheduling for Vehicle Platoons at Autonomous Intersection Accommodating Priority Passage Requests

ROS2-Gazebo Simulator for Drone Applications

Automatic driving decision-making on left-turn behavior at unsignalized intersections

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