Social-Aware Decision Algorithm for On-ramp Merging Based on Level-k Gaming

On-ramp merging is often associated with highly dynamic interactions between ego and other vehicles, which are more challenging in dense traffic. Considering both the overall traffic situation and the individual characteristics of other interacting drivers, we propose a social-aware hierarchical decision algorithm based on level-k game theory. To adapt to dynamic interactive situations, the social value orientation of interacting drivers is estimated on-line, while the right of way and tentative merging attempts are further integrated to improve the social-awareness of the decision model. A drone dataset of naturalistic driving is built to calibrate and validate the model effectiveness. Simulator experiments with drivers in the loop further show that the model can improve the safety and success rate in ramp merging.