The Emergency Braking Game: a game theoretic approach for maneuvering in a dense crowd of pedestrians

Abstract

We introduce an algorithm that maneuvers a vehicle through an area with randomly moving pedestrians. In non-critical situations, our strategy is to avoid pedestrians by steering, whereas dangerously moving pedestrians are avoided by braking, possibly coming to a complete stop. The distinction between non-critical and dangerous situations, as well as proof of safety, is based on a continuous optimization problem that we define. In this abstract problem, called Emergency Braking Game, one pedestrian is actively trying to collide with a continuously decelerating car. We show how to determine the outcome of the game based on the initial states of the car and the pedestrian. Using this information, our algorithm can initiate deceleration in the real scenario in time to avoid collision. The method’s safety is proven theoretically, and its efficiency is shown in simulations with randomly moving pedestrians.