The invention discloses an intelligent vehicle cooperative lane changing model under a road section mixed driving condition. According to the intelligent vehicle cooperative lane changing model, a vehicle lane changing interaction relationship judgment model is established and based on a fuzzy logic method so as to analyze a vehicle-vehicle interaction behavior under the mixed driving condition; acooperative lane changing game model of manned and unmanned vehicles is established; and a variable cooperation coefficient is introduced to establish a cooperative lane changing game model of the manned vehicle and the unmanned vehicle, and Nash equilibrium solution is carried out on the game model by adopting a Lemke-Howson algorithm to obtain an optimal strategy combination for judging whetherthe vehicle changes the lane or not. Because of establishment of the cooperative lane changing game model of the manned vehicle and the unmanned vehicle, the traffic flow operation efficiency can beeffectively improved, the driving experience of passengers can be greatly improved, and a positive effect on traffic safety is achieved.
本发明公开了一种路段混行条件下的智能车辆协同换道模型基于模糊逻辑方法建立车辆换道交互关系判定模型,以解析混行条件下的车‑车交互行为;通过建立有人与无人驾驶车辆的协同换道博弈模型;引入可变合作系数建立有人与无人驾驶车辆的协同换道博弈模型,采用Lemke‑Howson算法对博弈模型进行纳什均衡求解,得到车辆换道与否的最优策略组合。本发明通过建立有人与无人驾驶车辆的协同换道博弈模型,不仅可以有效提高交通流运行效率,还可以大大改善乘客的驾乘体验,并对交通安全起到积极的作用。
Intelligent vehicle cooperative lane changing decision-making model under road section mixed driving condition
路段混行条件下的智能车辆协同换道决策模型
2020-04-28
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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