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Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles

Sasinee Pruekprasert 1 Xiaoyi Zhang 1 Jérémy Dubut 1, 2 Chao Huang 1 Masako Kishida 1
1 NII - National Institute of Informatics
2 JFLI - Japanese French Laboratory for Informatics
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.
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Conference papers
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https://hal.inria.fr/hal-02375012
Contributor : Jérémy Dubut <>
Submitted on : Thursday, November 21, 2019 - 6:08:55 PM
Last modification on : Monday, May 17, 2021 - 12:00:05 PM

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  • HAL Id : hal-02375012, version 1

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SORBONNE-UNIVERSITE | UMI-3527 | CNRS | SU-SCIENCES | TDS-MACS

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Sasinee Pruekprasert, Xiaoyi Zhang, Jérémy Dubut, Chao Huang, Masako Kishida. Decision Making for Autonomous Vehicles at Unsignalized Intersection in Presence of Malicious Vehicles. 22nd IEEE Intelligent Transportation Systems Conference, ITSC 2019, Oct 2019, Auckland, New Zealand. ⟨hal-02375012⟩

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