A method for risk-aware game-theoretic trajectory planning is described. The method includes modeling an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment. The method also includes ranking upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories. The method further includes selecting a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan.
Game-theoretic planning for risk-aware interactive agents
2023-05-09
Patent
Electronic Resource
English
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
GAME-THEORETIC PLANNING FOR RISK-AWARE INTERACTIVE AGENTS
European Patent Office | 2022
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