2019年6月
Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles
ITSC 2019
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- 記述言語
- 掲載種別
- 研究論文（国際会議プロシーディングス）
In this paper, we investigate the decision making of autonomous vehicles in<br />
an unsignalized intersection in presence of malicious vehicles, which are<br />
vehicles that do not respect the law by not using the proper rules of the right<br />
of way. Each vehicle computes its control input as a Nash equilibrium of a game<br />
determined by the priority order based on its own belief: each of non-malicious<br />
vehicle bases its order on the law, while a malicious one considers itself as<br />
having priority. To illustrate our method, we provide numerical simulations,<br />
with different scenarios given by different cases of malicious vehicles.
an unsignalized intersection in presence of malicious vehicles, which are<br />
vehicles that do not respect the law by not using the proper rules of the right<br />
of way. Each vehicle computes its control input as a Nash equilibrium of a game<br />
determined by the priority order based on its own belief: each of non-malicious<br />
vehicle bases its order on the law, while a malicious one considers itself as<br />
having priority. To illustrate our method, we provide numerical simulations,<br />
with different scenarios given by different cases of malicious vehicles.