Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles - CNRS - Centre national de la recherche scientifique Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles

Résumé

In this paper, we investigate the decision making of autonomous vehicles in an unsignalized intersection in presence of malicious vehicles, which are vehicles that do not respect the law by not using the proper rules of the right of way. Each vehicle computes its control input as a Nash equilibrium of a game determined by the priority order based on its own belief: each of non-malicious vehicle bases its order on the law, while a malicious one considers itself as having priority. To illustrate the effectiveness of our method, we provide numerical simulations, with different scenarios given by different cases of malicious vehicles.
Fichier non déposé

Dates et versions

hal-02375012 , version 1 (21-11-2019)

Identifiants

  • HAL Id : hal-02375012 , version 1

Citer

Sasinee Pruekprasert, Xiaoyi Zhang, Jérémy Dubut, Chao Huang, Masako Kishida. Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. 22nd IEEE Intelligent Transportation Systems Conference, ITSC 2019, Oct 2019, Auckland, New Zealand. ⟨hal-02375012⟩
31 Consultations
0 Téléchargements

Partager

Gmail Facebook X LinkedIn More