A Game-Theoretic Approach to Decision Making for Multiple Vehicles at Roundabout
For autonomous vehicle coordination at roundabouts, this game-theoretic method addresses the trade-off between safety and efficiency.
The paper proposes a distributed decision-making process for multiple autonomous vehicles at a roundabout, modeling interactions as a finite sequential game and using Nash equilibrium to predict behaviors. Simulations show the approach balances safety (no collisions) and speed (reduced time in roundabout).
In this paper, we study the decision making of multiple autonomous vehicles at a roundabout. The behaviours of the vehicles depend on their aggressiveness, which indicates how much they value speed over safety. We propose a distributed decision-making process that balances safety and speed of the vehicles. In the proposed process, each vehicle estimates other vehicles' aggressiveness and formulates the interactions among the vehicles as a finite sequential game. Based on the Nash equilibrium of this game, the vehicle predicts other vehicles' behaviours and makes decisions. We perform numerical simulations to illustrate the effectiveness of the proposed process, both for safety (absence of collisions), and speed (time spent within the roundabout).