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

Sasinee Pruekprasert; Xiaoyi Zhang; Jérémy Dubut; Chao Huang; Masako Kishida

doi:10.1109/ITSC.2019.8917132

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

Sasinee Pruekprasert, Xiaoyi Zhang, Jérémy Dubut, Chao Huang, Masako Kishida

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

23 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2299-2304
Number of pages	6
ISBN (Electronic)	9781538670248
DOIs	https://doi.org/10.1109/ITSC.2019.8917132
Publication status	Published - Oct 2019
Externally published	Yes
Event	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand Duration: 27 Oct 2019 → 30 Oct 2019

Publication series

Name	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference	2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Country/Territory	New Zealand
City	Auckland
Period	27/10/19 → 30/10/19

ASJC Scopus subject areas

Artificial Intelligence
Management Science and Operations Research
Instrumentation
Transportation

More information

10.1109/ITSC.2019.8917132

Cite this

Pruekprasert, S., Zhang, X., Dubut, J., Huang, C., & Kishida, M. (2019). Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 (pp. 2299-2304). Article 8917132 (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ITSC.2019.8917132

Pruekprasert, Sasinee ; Zhang, Xiaoyi ; Dubut, Jérémy et al. / Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 2299-2304 (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019).

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abstract = "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.",

author = "Sasinee Pruekprasert and Xiaoyi Zhang and J{\'e}r{\'e}my Dubut and Chao Huang and Masako Kishida",

note = "Funding Information: The authors are supported by ERATO HASUO Metamathematics for Systems Design Project (No. JPMJER1603), JST; J. Dubut is also supported by Grant-in-aid No. 19K20215, JSPS. Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 ; Conference date: 27-10-2019 Through 30-10-2019",

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month = oct,

doi = "10.1109/ITSC.2019.8917132",

language = "English",

series = "2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019",

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Pruekprasert, S, Zhang, X, Dubut, J, Huang, C & Kishida, M 2019, Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. in 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019., 8917132, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 2299-2304, 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019, Auckland, New Zealand, 27/10/19. https://doi.org/10.1109/ITSC.2019.8917132

Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. / Pruekprasert, Sasinee; Zhang, Xiaoyi; Dubut, Jérémy et al.
2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 2299-2304 8917132 (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019).

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Pruekprasert S, Zhang X, Dubut J, Huang C, Kishida M. Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. In 2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 2299-2304. 8917132. (2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019). doi: 10.1109/ITSC.2019.8917132

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

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