Automotive engineering

Intersection (aeronautics)

Distributed computing

Engineering

Economics

Microeconomics

Game theory

Transport engineering

Traffic simulation

Computer science

Vehicle dynamics

Simulation

IEEE Transactions on Intelligent Transportation Systems

Motivated by the need for simulation tools for testing, verification and validation of autonomous driving systems that operate in traffic consisting of both autonomous and human-driven vehicles, we propose a game-theoretic framework for modeling the interactive behavior of vehicles at uncontrolled intersections. The proposed vehicle interaction model is based on a novel formulation of dynamic games with multiple concurrent leader-follower pairs, induced from common traffic rules. Based on simulation results for various intersection scenarios, we show that the model exhibits reasonable behavior expected in traffic, including the capability of reproducing scenarios extracted from real-world traffic data and reasonable performance in resolving traffic conflicts. The model is further validated based on the level-of-service traffic quality rating system and demonstrates manageable computational complexity compared to traditional multi-player game-theoretic models.

Game-Theoretic Modeling of Multi-Vehicle Interactions at Uncontrolled Intersections