Hierarchical reasoning game theory based approach for evaluation and testing of autonomous vehicle control systems

Nan Li, Dave Oyler, Mengxuan Zhang, Yildiray Yildiz, Anouck Girard, Ilya Kolmanovsky
2016 2016 IEEE 55th Conference on Decision and Control (CDC)  
A hierarchical game theoretic decision making framework is exploited to model driver decisions and interactions in traffic. In this paper, we apply this framework to develop a simulator to evaluate various existing autonomous driving algorithms. Specifically, two algorithms, based on Stackelberg policies and decision trees, are quantitatively compared in a traffic scenario where all the human-driven vehicles are modeled using the presented game theoretic approach.
doi:10.1109/cdc.2016.7798354 dblp:conf/cdc/LiOZYGK16 fatcat:xl36yphow5cfrapocm2i5ja7bq