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 proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 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 languageEnglish
Title of host publication2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2299-2304
Number of pages6
ISBN (Electronic)9781538670248
DOIs
Publication statusPublished - Oct 2019
Externally publishedYes
Event2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019 - Auckland, New Zealand
Duration: 27 Oct 201930 Oct 2019

Publication series

Name2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

Conference

Conference2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019
Country/TerritoryNew Zealand
CityAuckland
Period27/10/1930/10/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Management Science and Operations Research
  • Instrumentation
  • Transportation

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