The invention relates to an automatic driving vehicle man-vehicle interaction decision planning method based on the game theory, and belongs to the technical field of automatic driving vehicles. The method comprises the following steps: S1, constructing a human-vehicle interaction model based on the game theory, specifically, constructing a behavior probability prediction model of vehicles and pedestrians and a vehicle and pedestrian cost matrix; based on a cumulative foreground theory, according to the behavior probability of the vehicle and the pedestrian and the cost matrix, calculating the benefits of the vehicle and pedestrian behaviors; a cooperation coefficient is introduced, and a human-vehicle interaction model is improved; performing pedestrian cooperation value reasoning based on an improved human-vehicle interaction model; verifying the human-vehicle interaction model; and S2, cooperative control of the self-driving automobile in combination with the real-time traffic information. According to the invention, cooperative control of the self-driving automobile for pedestrians with different cooperative degrees can be realized, and the passing efficiency and safety of the self-driving automobile on the pedestrian crosswalk without signal lamps are improved.
本发明涉及一种基于博弈论的自动驾驶车辆人车交互决策规划方法,属于自动驾驶汽车技术领域。该方法包括:S1:构建基于博弈论的人车交互模型,具体包括:构建车辆和行人的行为概率预测模型、车辆和行人成本矩阵;基于累积前景理论,根据车辆和行人的行为概率以及成本矩阵,计算车辆和行人行为的收益;引入协作系数,改进人车交互模型;基于改进的人车交互模型进行行人协作值推理;对人车交互模型进行验证;S2:结合实时交通信息的自动驾驶汽车协作控制。本发明能实现自动驾驶汽车针对不同合作程度行人的协作性控制,提高自动驾驶汽车的在无信号灯人行横道的通行效率与安全性。
Automatic driving vehicle man-vehicle interaction decision planning method based on game theory
一种基于博弈论的自动驾驶车辆人车交互决策规划方法
2022-06-21
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 |
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