Game theory based autonomous vehicles operation. (1st January 2014)

• Record Type: Journal Article
• Authors: Kim, Changwon; Langari, Reza
• Is Part Of: International journal of vehicle design. Volume 65:Number 4(2013)
• Page Start: 360
• Page End: 383
• Publication Date: 2014-01-01
• Subjects: autonomous vehicles -- game theory -- mixed motive game -- virtual bumper; Motor vehicles -- Design and construction -- Periodicals; 629.231
• Languages: English
• ISSNs: 0143-3369

Abstract

In this paper, we propose a game theory based approach to decision making with application to the operation of autonomous ground vehicles in highway setting. The mixed-motive game theory is utilised as a decisionmaking strategy in the context of a two-player game involving autonomous vehicles. The payoff matrices are defined by considering the safety of each player's decision combination in view of their desire to stay within a given lane or to change lanes in consideration of the traffic conditions that the vehicles encounter. By analysing the payoff matrix, either a pure (deterministic) strategy or a mixed (probabilistic) strategy is selected. Three 10 km velocity profiles are predefined for simulation purposes. The simulation results demonstrate effective driving performance. In particular when it is compared with non-game theory cases, game theory based results show larger payoff for both vehicles and smaller payoff differences, securing safe manoeuvring via lane change manoeuvre (LCM) and adaptive cruise control (ACC).