Driving Behavior Customization
To demonstrate how the parameters in our algorithm will affect the interactive behavior, demonstrations are presented. The way to manipulate the driving behavior by adjusting \(\alpha_{svth}\) and \(\kappa\) are reported and compared in this subsection. First, different thresholds \(\alpha_{svth}\) are compared in Figure \ref{113875}. For comparison, the surrounding vehicle (V1) stringently follows fixed predefined way-points, which, including other information, is unknown to the subject vehicle (V2) by setting the initiation \(\beta^0_i = \frac{1}{3}, i=i,2,3\). Also, the costs in Table \ref{t2} are set to a pair of constants for comparisons. Other parameters are given in Note S1, Supporting Information and \cite{Werling_2010} is used as the candidate trajectory generation algorithm.