Lucente, Giovanni and Dariani, Reza and Schindler, Julian and Ortgiese, Michael (2023) A Bayesian Approach with Prior Mixed Strategy Nash Equilibrium for Vehicle Intention Prediction. Automotive Innovation. Springer Nature. ISSN 2096-4250.
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Abstract
The state-of-the-art technology in the field of vehicle automation will lead to a mixed traffic environment in the coming years where Connected and Automated Vehicles (CAVs) have to interact with Human-Driven ones (HVs). In this context, it is necessary to have intention prediction models with the capability of forecasting how the traffic scenario is going to evolve with respect to the physical state of vehicles, the possible maneuvers and the interactions between the traffic participants within the seconds to come. This article presents a Bayesian approach for vehicle intention forecasting, proposing as prior estimate a game-theoretic framework in the form of a Mixed Strategy Nash Equilibrium (MSNE) to model the reciprocal influence between traffic participants. The likelihood is then computed based on the Kullback-Leibler divergence. The game is modeled as a static nonzero-sum polymatrix game with individual preferences, a well known strategic game. Finding the MSNE for these games is in the PPAD \ PLS complexity class, with polynomial-time tractability. The approach shows good results in simulation in the long term horizon (10s), with its computational complexity allowing for online applications.
Item URL in elib: | https://elib.dlr.de/195305/ | ||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||
Title: | A Bayesian Approach with Prior Mixed Strategy Nash Equilibrium for Vehicle Intention Prediction | ||||||||||||||||||||
Authors: |
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Date: | 2023 | ||||||||||||||||||||
Journal or Publication Title: | Automotive Innovation | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||
Publisher: | Springer Nature | ||||||||||||||||||||
ISSN: | 2096-4250 | ||||||||||||||||||||
Status: | Accepted | ||||||||||||||||||||
Keywords: | Vehicle Intention Prediction · Trajectory Prediction · Bayesian Approach · Mixed Strategy Nash Equilibrium | ||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
HGF - Program: | Transport | ||||||||||||||||||||
HGF - Program Themes: | Road Transport | ||||||||||||||||||||
DLR - Research area: | Transport | ||||||||||||||||||||
DLR - Program: | V ST Straßenverkehr | ||||||||||||||||||||
DLR - Research theme (Project): | V - NGC KoFiF (old) | ||||||||||||||||||||
Location: | Berlin-Adlershof , Braunschweig | ||||||||||||||||||||
Institutes and Institutions: | Institute of Transportation Systems Institute of Transportation Systems > Cooperative Systems, BS Institute of Transportation Systems > Administration TS, BA | ||||||||||||||||||||
Deposited By: | Lucente, Giovanni | ||||||||||||||||||||
Deposited On: | 21 Jun 2023 10:46 | ||||||||||||||||||||
Last Modified: | 22 Jun 2023 10:24 |
Available Versions of this Item
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A Bayesian Approach with A-Priori Mixed Strategy Nash Equilibrium for Vehicle Intention Prediction. (deposited 09 Feb 2023 13:40)
- A Bayesian Approach with Prior Mixed Strategy Nash Equilibrium for Vehicle Intention Prediction. (deposited 21 Jun 2023 10:46) [Currently Displayed]
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