The invention discloses a port wharf face automatic driving lane changing method based on the game theory. The method comprises the steps that S1, information of vehicles around lane changing vehicles is sensed; s2, judging whether a lane changing intention is generated or not according to the relative speed and distance of the lane changing vehicle and the surrounding vehicles; s3, if the lane changing intention is generated, entering the step S4; otherwise, returning to the step S2; s4, turning on a steering lamp for the vehicle to be subjected to lane changing, and carrying out small transverse movement so as to carry out tentative lane changing; s5, considering the gaming of the vehicle to change the lane and the vehicle behind the target lane: constructing a lane change gaming income matrix according to the strategy of the vehicle to change the lane for lane change or lane keeping and the strategy of the vehicle behind the target lane for avoidance or non-avoidance; and S6, performing lane changing game decision judgment according to the total revenue of the vehicle to be subjected to lane changing and the vehicle behind the target lane. According to the method, on the premise that safety is guaranteed, accurate control over the lane changing opportunity by the decision-making module is greatly improved, and the working efficiency of the automatic driving vehicle on the wharf surface is improved.

    本发明公开了一基于博弈论的港口码头面自动驾驶换道方法,包括:S1,感知换道车辆周围车辆信息;S2,根据换道车辆和周围车辆的相对速度和距离,判断是否产生换道意图;S3,若产生换道意图,则进入步骤S4;否则,返回到步骤S2;S4,对拟换道车辆,打转向灯并进行较小横向移动以进行试探换道;S5,考虑拟换道车辆和目标车道后方车辆的博弈:根据拟换道车辆的策略为换道或车道保持及目标车道后方车辆的策略为避让或不避让构建换道博弈收益矩阵;S6,根据拟换道车辆和目标车道后方车辆总收益进行换道博弈决策判断。该方法在保证安全的前提下大大提高了决策模块对可换道时机的精准把控,提高了自动驾驶车辆在码头面的作业效率。


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    Titel :

    Port wharf surface automatic driving lane changing decision-making method based on game theory


    Weitere Titelangaben:

    一种基于博弈论的港口码头面自动驾驶换道决策方法


    Beteiligte:
    ZHANG ZUFENG (Autor:in) / ZHANG RAN (Autor:in) / LIN QI (Autor:in)

    Erscheinungsdatum :

    2023-03-21


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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