Probing Behavior Generation

If the subject vehicle is confused by the relative aggressiveness compared to the surrounding vehicles, it makes some small steps to test the real aggressiveness of the obstacle vehicles. These steps cannot be too big to trigger collisions, nor too small that shows no sign of his own intention. This part is what makes this work different from the extant studies. When dealing with uncertainties, current methods intends to give up or fight outright according to some fixed thresholds, such as time-to-collision. While, in reality, people intend to fight to certain degrees. If the obstacles are indeed more competitive, they will then eventually give up; but if not, they can win the right of way, especially during a traffic jam where human driver inclines to get to a more advantageous position. The small step is given by the algorithm in Table \ref{t4}.