Human-Like Decision Making for Autonomous Driving: A Noncooperative Game Theoretic Approach

by   Peng Hang, et al.

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 drive safety, ride comfort and travel efficiency, which are considered in the modelling 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 this human-like decision making framework can make personalized decisions according to different driving styles.


page 4

page 8


An Integrated Framework of Decision Making and Motion Planning for Autonomous Vehicles Considering Social Behaviors

This paper presents a novel integrated approach to deal with the decisio...

Brain-Inspired Modelling and Decision-making for Human-Like Autonomous Driving in Mixed Traffic Environment

In this paper, a human-like driving framework is designed for autonomous...

Human-like Decision-making at Unsignalized Intersection using Social Value Orientation

With the commercial application of automated vehicles (AVs), the sharing...

Collaborative Planning for Mixed-Autonomy Lane Merging

Driving is a social activity: drivers often indicate their intent to cha...

Altruistic Decision-Making for Autonomous Driving with Sparse Rewards

In order to drive effectively, a driver must be aware of how they can ex...

On Social Interactions of Merging Behaviors at Highway On-Ramps in Congested Traffic

Merging at highway on-ramps while interacting with other human-driven ve...

On Trustworthy Decision-Making Process of Human Drivers from the View of Perceptual Uncertainty Reduction

Humans are experts in making decisions for challenging driving tasks wit...

Please sign up or login with your details

Forgot password? Click here to reset