Recent work on decision making and planning for autonomous driving has made use of game theoretic methods to model interaction between agents. We demonstrate that methods based on the Stackelberg game formulation of this problem are susceptible to an issue that we refer to as conflict. Our results show that when conflict occurs, it causes suboptimal and potentially dangerous behaviour. In response, we develop a theoretical framework for analysing the extent to which such methods are impacted by conflict, and apply this framework to several existing approaches modelling interaction between agents. Moreover, we propose Augmented Altruism, a novel approach to modelling interaction between players in a Stackelberg game, and show that it is less prone to conflict than previous techniques.

中文翻译：

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解决自动驾驶决策中的冲突

最近关于自动驾驶决策和规划的工作利用博弈论方法来模拟代理之间的交互。我们证明基于此问题的 Stackelberg 博弈公式的方法容易受到我们称为冲突的问题的影响。我们的结果表明，当冲突发生时，它会导致次优和潜在的危险行为。作为回应，我们开发了一个理论框架来分析此类方法受冲突影响的程度，并将该框架应用于建模代理之间交互的几种现有方法。此外，我们提出了增强利他主义，这是一种在 Stackelberg 游戏中对玩家之间的交互进行建模的新方法，并表明它比以前的技术更不容易发生冲突。