Cooperative Decision-Making in Mixed Urban Traffic Scenarios

As the number of highly automated and autonomous vehicles on public roads continues to rise, gaining trust becomes a crucial aspect for their acceptance in society. Particularly challenging situations arise when these vehicles drive at low speeds, as they frequently encounter interactions with vulnerable road users. Consequently, addressing these interactions becomes essential for the vehicle’s automation. This abstract has two key contributions: the introduction of an approximate vulnerable road user model and the comparison of the model-based and model-free decision-making algorithms. The simulation results showed the effectiveness and practicality of the proposed model-based algorithm even for real-world applications due to the traceability of this decision-making algorithm