The invention relates to a vehicle interactive lane changing method considering a multi-vehicle game. The method comprises the following steps: step 1, calculating a required safety distance of vehicle driving in a following state before and after lane changing; 2, calculating a longitudinal demand safety distance and a lateral demand safety distance of the vehicle in a lane changing implementation state; 3, calculating a longitudinal demand safety distance and a lateral safety distance of the lane changing vehicle, and determining an interaction area of a single vehicle; 4, obtaining the interaction degree between the vehicles according to the overlapping area of the interaction areas; and 5, calculating the lane changing driving income of the vehicle, and obtaining a lane changing driving income function. According to the method, the game theory is added in the vehicle lane changing process under the multi-vehicle interactive operation rule, so that a scheme can be provided for a driver to make a lane changing decision, the driving safety is improved, and the influence on interactive vehicles is reduced.
本发明涉及一种考虑多车博弈的车辆交互换道方法,包括如下步骤:步骤一、计算换道前后跟驰状态下车辆行驶的需求安全距离;步骤二、计算换道实施状态下车辆纵向需求安全距离和侧向需求安全距离;步骤三、计算换道车辆的纵向需求安全距离和侧向安全距离,确定单个车辆的交互区域;步骤四、根据交互区域的重叠面积得出车辆间的交互程度;步骤五、计算车辆换道驾驶收益,得出换道驾驶收益函数。本发明通过多车交互运行规律下的车辆换道过程,加入博弈理论,能够为驾驶员换道决策提供方案,提高了行车的安全性,并减小对交互车辆的影响。
Vehicle interactive lane changing method considering multi-vehicle game
一种考虑多车博弈的车辆交互换道方法
2022-03-08
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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