让自动驾驶车学会与行人博弈，避免无尽等待。
Pedestrians play chicken with an autonomous vehicle
- 用博弈论模型模拟车与人互动，动态权衡碰撞风险与等待时间。
- 实验显示行人更怕靠近被侵扰，而非真正碰撞，时间价值极低。
- 适合研究自动驾驶交互、行为建模的学者与工程师参考。
自动驾驶车辆通常被设计为无条件避让行人以确保安全，但这可能导致‘冻结机器人问题’——行人学会利用规则，在每次互动中占据优先权，导致车辆停滞不前。基于博弈论的顺序博弈（Sequential Chicken）模型表明，与人类司机类似，自动驾驶车辆可通过发出可信的小概率碰撞威胁或较大程度的个人空间侵扰风险，来换取通行效率。本文首次在真实自动驾驶车辆上通过人类参与者进行了验证，结果表明在受控安全条件下，行人行为可被顺序博弈模型良好拟合，且对碰撞的时间价值极低，说明其决策更关注避免近身空间侵犯，而非实际碰撞。该研究为自动驾驶交互策略优化提供了实证基础。
原文摘要 · Abstract (English)
Automated vehicles (AVs) are commonly programmed to yield unconditionally to pedestrians in the interest of safety. However, this design choice can give rise to the Freezing Robot Problem in which pedestrians learn to assert priority at every interaction, causing vehicles to stall and make no progress. The game theoretic Sequential Chicken model has shown that, like human drivers, AVs can resolve this problem by trading credible threats of very small risks of collision or larger risks of less severe invasion of personal space against the value of time due to yielding delays. This paper presents the first demonstration and evaluation of this approach using a real AV with human subjects and shows that pedestrian behavior under experimentally constrained safety conditions can be well fitted by Sequential Chicken, with a low time value of collision, suggestive of their planning to avoid proxemic personal space penalties as well as actual collisions.
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