Game-theoretic planning for risk-aware interactive agents

A non-transitory computer-readable medium having program code recorded thereon for risk-aware game-theoretic trajectory planning, the program code being executed by a processor and comprising:

• program code to model an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment;
• program code to rank upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories;
• and
• program code to select a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan.

A system for risk-aware game-theoretic trajectory planning, the system comprising:

• a game-theoretic risk model configured to model an ego vehicle and at least one other vehicle as risk-aware agents in a game-theoretic driving environment;
• a risk-aware cost function module configured to rank upcoming planned trajectories according to a risk-aware cost function of the ego vehicle and a risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories;
• and
• a vehicle trajectory selection module configured to select a vehicle trajectory according to the ranking of the upcoming planned trajectories based on the risk-aware cost function and the risk-sensitivity of the other vehicle associated with each of the upcoming planned trajectories to reach a target destination according to a mission plan.