Modeling Multi-Driver Interaction in Intersection Scenarios Based on a Hybrid Game Approach

In the presented work, an existing game-theoretical framework modeling intersection scenarios is extended. The framework is based on a hybrid dynamic game approach, which subdivides the motion of the vehicle into distinct maneuvers to reduce the continuous action space to a finite set of discrete actions. Therefore, the optimization problem modeling the decision process can be solved using dynamic programming. In the first step, the capability to handle situations with players driving along the same path is added. Furthermore, the approach is extended for situations with more than two players. In order to reduce the computational complexity, a method for selecting only relevant traffic participants is developed. Different simulation examples are used to verify the general functionality of the model.