Autonomous Driving Decision Algorithm for Complex Multi-vehicle
Interactions: an Efficient Approach Based on Global Sorting and Local
Gaming
Abstract
For autonomous driving, it is important to develop safe and efficient
decision algorithms to handle multi-vehicle interactions. Game theory is
suitable to manage the interactive driving decision modelling, however,
common approaches of multi-player game formulation is computationally
complex for dynamic and intense interactions. The main contributions of
this work are two-fold: 1) a global sorting-local gaming framework,
namely GLOSO-LOGA, is proposed to solve the intersection interaction
problem for autonomous driving, which can comprehensively consider the
advantages of multi-vehicle collaboration and single-vehicle
intelligence approaches; 2) an interaction disturbance function is used
to quantify the impact of indirect interactions on ego vehicle. To
validate the algorithm performances, corner case simulations and
human-in-the-loop simulator experiments are carried out, in which a
four-armed intersection scenario with various urgent and challenging
interaction conditions is used. Results show that compared to the
traditional approach that decomposes a multi-vehicle game into multiple
two-vehicle games, the proposed algorithm can improve both safety and
traffic efficiency in intensively interactive driving scenarios even in
complex and urgent cases. It may be potentially applied in handling
autonomous vehicle’s dynamic interactions with multiple road users.