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

Automated Lane Merging via Game Theory and Branch Model Predictive Control

“…In the context of Stackelberg games, while most methods assume the ego vehicle to be the leader, the underlying rationale behind this choice is not always clear. In addition to Nash and Stackelberg games, other approaches utilize level-k reasoning to model human driving behavior [36], [37]. However, the computational burden of this framework is substantial due to the necessity of modeling the depth of human thinking [38].…”

“…• We assess the safety level via collision rate and Timeto-Collision (T T C) [37]. The collision rate is defined as the proportion of the number of cases, in which a collision happens, to the total number of cases.…”