Interactive Decision-Making With Switchable Game Modes for Automated Vehicles at Intersections

Interactive decision-making between multiple automated vehicles under unsigned intersections is a high-level dynamic decision-making scenario, greatly increasing the complexity of decision-making. In this situation, making the decision-making manner in accordance with the logic of human and guaranteeing driving safety is technically challenging. A multi-factor-enabled interactive decision-making method is proposed in this paper to realize such behavior, which employs multiple complementary factors and switchable modes in a dynamic game. More specifically, these factors are driving performance requirements, e.g., moving safety, smoothness comfort, fast passing, and surrounding space, as well as diversified driving styles suitable for different driver groups. Meanwhile, to improve the reasonability of automated driving and reduce the complexity of multi-vehicle games, switchable game modes are established to realize the dynamic adjustment mechanism. The effectiveness of the proposed method in resolving conflicts in a continuous interactive way is verified through extensive simulations. The results indicate the proposed method can reflect the interaction process between multi-agents, and improve compliance between intelligent decision-making and the logic of human.