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Hierarchical Reasoning Game Theory Based Approach for Evaluation and Testing of Autonomous Vehicle Control Systems

2016    Li, Nan; Oyler, Dave; Zhang, Mengxuan; Yildiz, Yildiray; Girard, Anouck; Kohnanovsky, Ilya

A hierarchical game theoretic decision making framework is exploited to model driver decisions and interactions in traffic. In this paper, we apply this framework to develop a simulator to evaluate various existing autonomous driving algorithms. Specifically, two algorithms, based on Stackel-berg policies and decision trees, are quantitatively compared in a traffic scenario where all the human-driven vehicles are modeled using the presented game theoretic approach.