Game Theory-Based Modeling of Multi-Vehicle and Multi-Pedestrian Interactions While Approaching Unsignalized Crosswalks
2022-01-0983
03/29/2022
- Event
- Content
- Nowadays, numerous efforts are being invested into improvement of road transport safety, especially with respect to vulnerable road users, such as pedestrians. To this end, different passive and active vehicle safety systems, providing warnings and emergency interventions in critical situations to avoid or mitigate collisions, are proposed. For the sake of rapid prototyping of such systems, virtual simulations relying on accurate models are typically used. However, modelling represents a challenging task, as it should capture complex behaviour of both drivers and pedestrians and their interactions over a wide range of driving situations (e.g., near intersections). This paper deals with modelling of vehicle-pedestrian interactions while approaching an unsignalized crosswalk. The study starts from the previously developed model covering simplified single-vehicle and single-pedestrian scenario, which consists of two distinctive parts: (i) expectation model which provides probabilities of opposing agent actions, and (ii) decision model which uses the expectation model outputs and provides the agent’s final crossing or yielding decision. The focus is then on extensions of that basic model to cover more general scenarios, including multi-vehicle/multi-pedestrian and multi-lane scenarios, as well as situations in which pedestrians approach the crosswalk from different directions and from both sides of the road. The idea is to keep the same structure and parameters of the original model and apply it to all pairs of individual vehicles and pedestrians within the multi-agent environment, in order to make pre-decisions for each vehicle-pedestrian pair. The final decision for each agent is made based on calculated pre-decisions, where several approaches are investigated depending whether only one the most critical pre-decision or all pre-decisions (with respect to all opposing agents) are accounted for. The variants of generalized model are verified and compared by means of large-scale simulations for different scenarios (e.g., number of vehicles and pedestrians, number of road lanes, etc.).
- Citation
- Pavelko, L., Skugor, B., Deur, J., Ivanovic, V. et al., "Game Theory-Based Modeling of Multi-Vehicle and Multi-Pedestrian Interactions While Approaching Unsignalized Crosswalks," SAE Technical Paper 2022-01-0983, 2022, .