Abstract
In this paper, we propose a novel behavior planner that combines game theory with search-based planning for automated lane merging. Specifically, inspired by human drivers, we model the interaction between vehicles as a gap selection process. To overcome the challenge of multi-modal behavior exhibited by the surrounding vehicles, we formulate the trajectory selection as a matrix game and compute an equilibrium. Next, we validate our proposed planner in the high-fidelity simulator CARLA and demonstrate its effectiveness in handling interactions in dense traffic scenarios.
| Original language | English |
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| Title of host publication | Proceedings of the IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 |
| Publisher | IEEE |
| Pages | 3085-3090 |
| Number of pages | 6 |
| ISBN (Electronic) | 979-8-3503-9946-2 |
| DOIs | |
| Publication status | Published - 2023 |
| Event | 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 - Euskalduna Conference Centre, Bilbao, Spain Duration: 24 Sept 2023 → 28 Sept 2023 https://2023.ieee-itsc.org/ |
Publication series
| Name | IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC |
|---|---|
| ISSN (Print) | 2153-0009 |
| ISSN (Electronic) | 2153-0017 |
Conference
| Conference | 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 |
|---|---|
| Abbreviated title | IEEE ITSC 2023 |
| Country/Territory | Spain |
| City | Bilbao |
| Period | 24/09/23 → 28/09/23 |
| Internet address |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.