Game-Theoretic Motion Planning with Perception Uncertainty and Right-of-Way Constraints

Abstract

This paper addresses two challenges in AV motion planning: adherence to right-of-way and handling uncertainties, using two game-theoretic frameworks, namely Stackelberg and Nash Bayesian (Bayesian). By modeling the interactions between road users as a hierarchical relationship, the proposed approach enables the AV to strategically optimize its trajectory while considering the actions and priorities of other road users. Additionally, the Bayesian equilibrium aspect of the framework incorporates probabilistic beliefs and updates them based on sensor measurements, allowing the AV to make informed decisions in the presence of uncertainty in the sensory system. Experimental assessments demonstrate the efficacy of the approach, emphasizing its ability to improve the reliability and adaptability of AV motion planning.