This paper considers the decision-making problem for a vehicle crossing a road intersection in the presence of other, potentially errant, drivers. This problem is considered in a game-theoretic framework, where the errant drivers are assumed to be capable of causing intentional collisions. Our approach is to simulate the possible behaviors of errant drivers using RRT-Reach, a modified application of rapidly-exploring random trees. A novelty in RRT-Reach is the use of a dual exploration-pursuit mode, which allows for efficient approximation of the errant reachability set for some fixed time horizon. Through simulation and experimental results with a small autonomous vehicle, we demonstrate that this threat assessment algorithm can be used in real-time to minimize the risk of collision.

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https://orcid.org/0000-0001-8576-1930 under the license http://creativecommons.org/licenses/by-nc-sa/3.0/
http://dx.doi.org/10.3182/20100906-3-it-2019.00100 under the license https://www.elsevier.com/tdm/userlicense/1.0/
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Published on 01/01/2010

Volume 2010, 2010
DOI: 10.3182/20100906-3-it-2019.00100
Licence: Other

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