The invention provides an intelligent vehicle non-cooperative rolling optimization game decision equilibrium point solving method, which comprises the following steps: firstly, establishing a decision model of a vehicle and driver models of surrounding vehicles, integrating the decision model of the vehicle and the driver models of the surrounding vehicles into a system, and establishing a game model of the vehicle; thirdly, establishing a driving environment model, proposing a decision-making method of a rolling optimization game, and carrying out mathematical description on an optimization problem of a non-cooperative game decision; according to respective targets of the vehicle and the surrounding vehicles, target functions and constraint conditions of the vehicle and the surrounding vehicles are constructed respectively; and finally, designing a Nash equilibrium solving method of a non-cooperative game decision optimization problem, and realizing decision of the intelligent vehicle under the non-cooperative game. According to the method, through a game form, the precision of predicting the dynamic states of surrounding vehicles is improved, and the decision effect and efficiency are improved.
本发明提供了一种智能车辆非合作滚动优化博弈决策均衡点求解方法,首先建立了本车的决策模型以及周车的驾驶员模型,将本车的决策模型和周车的驾驶员模型集成为一个系统,建立车辆的博弈模型;接着,建立行车环境模型,提出了滚动优化博弈的决策方法,对非合作博弈决策的优化问题进行数学描述;根据本车和周车各自的目标,分别构建了本车和周车的目标函数和约束条件;最后设计了非合作博弈决策优化问题的纳什均衡求解方法,实现智能车辆在非合作博弈下的决策;本方法通过博弈的形式,提高了预测周围车辆动态的精度,提高了决策的效果和效率。
Intelligent vehicle rolling optimization non-cooperative game decision-making method
一种智能车辆滚动优化非合作博弈决策方法
2023-11-07
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / 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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