Computer Science > Robotics
[Submitted on 22 May 2020 (v1), last revised 23 Sep 2020 (this version, v2)]
Title:Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach
View PDFAbstract:Considering that human-driven vehicles and autonomous vehicles (AVs) will coexist on roads in the future for a long time, how to merge AVs into human drivers traffic ecology and minimize the effect of AVs and their misfit with human drivers, are issues worthy of consideration. Moreover, different passengers have different needs for AVs, thus, how to provide personalized choices for different passengers is another issue for AVs. Therefore, a human-like decision making framework is designed for AVs in this paper. Different driving styles and social interaction characteristics are formulated for AVs regarding driving safety, ride comfort and travel efficiency, which are considered in the modeling process of decision making. Then, Nash equilibrium and Stackelberg game theory are applied to the noncooperative decision making. In addition, potential field method and model predictive control (MPC) are combined to deal with the motion prediction and planning for AVs, which provides predicted motion information for the decision-making module. Finally, two typical testing scenarios of lane change, i.e., merging and overtaking, are carried out to evaluate the feasibility and effectiveness of the proposed decision-making framework considering different human-like behaviors. Testing results indicate that both the two game theoretic approaches can provide reasonable human-like decision making for AVs. Compared with the Nash equilibrium approach, under the normal driving style, the cost value of decision making using the Stackelberg game theoretic approach is reduced by over 20%.
Submission history
From: Chen Lv [view email][v1] Fri, 22 May 2020 09:00:00 UTC (1,289 KB)
[v2] Wed, 23 Sep 2020 03:58:55 UTC (880 KB)
Current browse context:
cs.RO
References & Citations
Bibliographic and Citation Tools
Bibliographic Explorer (What is the Explorer?)
Litmaps (What is Litmaps?)
scite Smart Citations (What are Smart Citations?)
Code, Data and Media Associated with this Article
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub (What is DagsHub?)
Gotit.pub (What is GotitPub?)
Papers with Code (What is Papers with Code?)
ScienceCast (What is ScienceCast?)
Demos
Recommenders and Search Tools
Influence Flower (What are Influence Flowers?)
Connected Papers (What is Connected Papers?)
CORE Recommender (What is CORE?)
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.