Safe, Efficient and Socially‑Compatible Decision of Automated Vehicles: A Case Study of Unsignalized Intersection Driving  

作　　者：Daofei Li Ao Liu Hao Pan Wentao Chen 

机构地区：[1]Institute of Power Machinery and Vehicular Engineering,Faculty of Engineering,Zhejiang University,No.38 Zheda Road,Xihu District,Hangzhou 310027,Zhejiang,China

出　　处：《Automotive Innovation》2023年第2期281-296,共16页汽车创新工程（英文）

基　　金：supported by the Department of Science and Technology of Zhejiang under Grants 2022C01241 and 2023C01238;supported by a student project from Scientific Research Fund of Zhejiang Provincial Education Department(Y202250796).

摘　　要：Safe and smooth interaction between other vehicles is one of the ultimate goals of driving automation.However,recent reports of demonstrative deployments of automated vehicles(AVs)indicate that AVs are still difficult to meet the expecta-tion of other interacting drivers,which leads to several AV accidents involving human-driven vehicles(HVs)without the understanding about the dynamic interaction process.By investigating 4300 video clips of traffic accidents,it is found that the limited dynamic visual field of drivers is one leading factor in inter-vehicle interaction accidents.A game-theoretic decision algorithm considering social compatibility is proposed to handle the interaction with a human-driven truck at an unsignalized intersection.Starting from a probabilistic model for the visual field characteristics of truck drivers,social fit-ness and reciprocal altruism in the decision are incorporated in the game payoff design.Human-in-the-loop experiments are carried out,in which 24 subjects are invited to drive and interact with AVs deployed with the proposed algorithm and two comparison algorithms.Totally,207 cases of intersection interactions are obtained and analyzed,which shows that the proposed decision-making algorithm can improve both safety and time efficiency,and make AV decisions more in line with the expectation of interacting human drivers.These findings can help inform the design of automated driving decision algorithms,to ensure that AVs can be safely and efficiently integrated into the human-dominated traffic.

关 键 词：Automated driving Social compatibility Game theory Interactive driving Unsignalized intersection 

分 类 号：U471[机械工程—车辆工程]