Decision Making in Urban Traffic: A Game Theoretic Approach for Autonomous Vehicles Adhering to Traffic Rules

One of the primary challenges in urban autonomous vehicle decision-making and planning lies in effectively managing intricate interactions with diverse traffic participants characterized by unpredictable movement patterns. Additionally, interpreting and adhering to traffic regulations within rapidly evolving traffic scenarios pose significant hurdles. This paper proposed a rule-based autonomous vehicle decision-making and planning framework which extracts right-of-way from traffic rules to generate behavioural parameters, integrating them to effectively adhere to and navigate through traffic regulations. The framework considers the strong interaction between traffic participants mathematically by formulating the decision-making and planning problem into a differential game. By finding the Nash equilibrium of the problem, the autonomous vehicle is able to find optimal decisions. The proposed framework was tested under simulation as well as full-size vehicle platform, the results show that the ego vehicle is able to safely interact with surrounding traffic participants while adhering to traffic rules.