Driving Conflict Resolution of Autonomous Vehicles at Unsignalized Intersections: A Differential Game Approach

5 Jan 2022  ·  Peng Hang, Chao Huang, Zhongxu Hu, Chen Lv ·

Considering personalized driving preferences, a new decision-making framework is developed using a differential game approach to resolve the driving conflicts of autonomous vehicles (AVs) at unsignalized intersections. To realize human-like driving and personalized decision-making, driving aggressiveness is first defined for AVs. To improve driving safety, a Gaussian potential field model is built for collision risk assessment. Besides, in the proposed decision making framework, the collision risk assessment model is further used to reduce the computational complexity based on an event-triggered mechanism. In the construction of payoff function, both driving safety and passing efficiency are comprehensively considered, and the driving aggressiveness is also reflected. Two kinds of equilibrium solution to the differential game, i.e., the Nash equilibrium and Stackelberg equilibrium, are discussed and solved. Finally, the proposed decision making algorithm is tested through a hardware-in-the-loop testing platform, and its feasibility, effectiveness and real-time implementation performance are validated.

PDF Abstract


  Add Datasets introduced or used in this paper

Results from the Paper

  Submit results from this paper to get state-of-the-art GitHub badges and help the community compare results to other papers.


No methods listed for this paper. Add relevant methods here