Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (9): 3069-3078.doi: 10.13229/j.cnki.jdxbgxb.20250531

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Uncontrolled intersections decision⁃making method for intelligent driving vehicles based on Level⁃K

Shou-tao LI1,2(),Xiang-yi JIA1,2,Jun ZHU2,Hong-yan GUO1,2(),Ding-li YU3   

  1. 1.National Key Laboratory of Automotive Chassis Integration and Bionics，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
    3.School of Engineering and Technology，Liverpool John Moores University，Liverpool L33AF，UK
  • Received:2025-06-18 Online:2025-09-01 Published:2025-11-14
  • Contact: Hong-yan GUO E-mail:list@jlu.edu.cn;guohy11@jlu.edu.cn

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Abstract:

To ensure the safe and reasonable passage of intelligent driving vehicles through uncontrolled intersections， a sequential decision-making method based on the Level-K game model was proposed. Firstly， the initial classification of vehicle reasoning levels was conducted through trajectory prediction and correlation analysis among vehicles. On this basis， the concept of sequential priority was introduced into the improved Level-K game framework to construct decision-making model for uncontrolled intersections. Secondly， to reduce unnecessary interactions among vehicles and lower the computational complexity of the decision-making model， a game start and end discrimination mechanism was proposed to dynamically screen the objects participating in the game. Meanwhile， to ensure the safety of the decision-making， a rectangular vehicle model was proposed to assess the collision risk of vehicles. Finally， the effectiveness of the proposed method was verified through experiments. The results show that the interactive decision-making method proposed can effectively avoid potential collision risks and enable intelligent driving vehicles to pass through intersections safely and reasonably.

Key words: vehicle engineering, intelligent driving vehicles, trajectory prediction, game theory, uncontrolled intersection

CLC Number: 

  • TP273

Fig.1

Game decision-making architecture diagram"

Fig.2

Snapshot of vehicle interaction process in intersection scenarios"

Fig.3

Vehicle speed variation curves in intersection scenarios"

Fig.4

Snapshot of vehicle interaction process in conflict scenarios"

Fig.5

Vehicle speed variation curves in conflict scenarios"

Fig.6

Snapshots of vehicle interaction processes in multi-vehicle dense scenarios"

Fig.7

Vehicle speed variation curves in multi-vehicle dense scenarios"

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