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Aug 30, 2023
A Game-Theory and Risk-Field Based Automated Vehicle Motion Planning Method for Mixed Traffic Environments at Uncontrolled Intersections
Authors: Zhaojie Wang, Guangquan Lu [email protected], and Haitian TanAuthor Affiliations
Publication: CICTP 2023
ABSTRACT
With the development of technology, automated vehicles are beginning to appear in traditional multi-vehicle conflict scenarios such as uncontrolled intersections. The main challenge is to predict the behavior of other traffic participants. To address this issue and improve the traffic efficiency by optimizing the motion planning of automated vehicles (AVs) in MV-AV mixed traffic environments, a motion planning method based on game-theory and risk-field is proposed. Risk-field theory is used to build a driving behavior model of MVs at uncontrolled intersections, which AVs use to evaluate the driving behavior of other traffic participants. A game-theory framework assigns priority among AVs and MVs that conflict, considering their occupancy level of the conflict area and acceptable risk level. This method can obtain the optimal priority of vehicle in a linear calculation time while ensuring the driving safety in multi-vehicle conflict scenarios. The simulation results demonstrate the effectiveness of our motion planning method.
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Published online: Aug 30, 2023
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ASCE Technical Topics:
- Automation and robotics
- Continuum mechanics
- Driver behavior
- Dynamics (solid mechanics)
- Engineering fundamentals
- Engineering mechanics
- Highway and road management
- Highway transportation
- Highways and roads
- Infrastructure
- Intersections
- Models (by type)
- Motion (dynamics)
- Solid mechanics
- Systems engineering
- Traffic engineering
- Traffic management
- Traffic models
- Traffic safety
- Transportation engineering
- Vehicles
Authors
Affiliations
Zhaojie Wang
1Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang Univ., Beijing, China
2Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, and Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang Univ., Beijing, China. Email: [email protected]
Haitian Tan
3Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang Univ., Beijing, China
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Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.