The complex and mixed traffic environment makes it a challenge for the widespread use of automated and connected vehicles (ACVs). It is necessary for these systems to have a better understanding of the traffic environment including interaction and gaming between multiple vehicles. In this study, a manoeuvre prediction and planning framework is proposed on the basis of game theories for complex and mixed traffic scenarios via vehicle-to-everything communication. In this framework, the interaction and gaming between multiple vehicles are considered by employing the extensive form game theories. In the payoff function, the risk assessment model based on trajectory prediction under uncertainty is employed to assess collision risks. Driving efficiency and preference are also combined in the payoff function. Uncertainty elements, including estimation and prediction, are considered to predict and plan by using Nash equilibrium of the extensive form game theory in mixed and behavioural strategies. Finally, this framework is applied and proved in different lane-change scenarios. The results show that this framework could predict other vehicles’ driving manoeuvres and plan manoeuvres for ego vehicles by considering interaction and gaming between multiple vehicles, which helps ACVs understand the environment better and make the cooperative manoeuvre planning in complex traffic scenarios.
Manoeuvre prediction and planning for automated and connected vehicles based on interaction and gaming awareness under uncertainty
IET Intelligent Transport Systems ; 13 , 6 ; 933-941
2019-01-10
9 pages
Article (Journal)
Electronic Resource
English
uncertainty elements , traffic environment including interaction , telecommunication traffic , automated vehicles , ego vehicles , complex traffic scenarios , complex traffic environment , payoff function , behavioural strategies , mixed traffic environment , vehicle-to-everything communication , estimation , road traffic , collision avoidance , trajectory prediction , ACVs , automated connected vehicles , game theories , planning framework , multiple vehicles , game theory , road vehicles , mixed strategies , mixed traffic scenarios , manoeuvre prediction , manoeuvre planning , extensive form game theory , traffic engineering computing , risk assessment model , gaming awareness , risk management
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