Game-theory Based Driving Decision Algorithm for Intersection Scenarios Considering Driver Irrationality

Abstract

Traffic complexities in no-signal intersections lead to amounts of accidents, among of which are due to inappropriate decision based on inconsiderate judgements of the other traffic users. Focusing on an example intersection driving scenario, this paper analyses the decision-making behaviour of two crossing vehicles at intersections without traffic lights, while considering the influence of safety factor, traffic efficiency and drivers' irrationality, etc. We propose a corresponding utility model to treat the whole dynamic process as finite repeated games. Nash Equilibrium approach is adopted to solve the decision-making problem at intersections. The effectiveness of the proposed decision algorithm is validated by both simulation and human-in-the-loop experiments.