Hierarchical reasoning game theory based approach for evaluation and testing of autonomous vehicle control systems
A hierarchical game theoretic decision making framework is exploited to model driver decisions and interactions in traffic. In this paper, we apply this framework to develop a simulator to evaluate various existing autonomous driving algorithms. Specifically, two algorithms, based on Stackelberg policies and decision trees, are quantitatively compared in a traffic scenario where all the human driven vehicles are modeled using the presented game theoretic approach.
2016 IEEE 55th Conference on Decision and Control (CDC)