The invention relates to a vehicle driving control method considering pedestrian uncertainty under a game framework and a medium, and the method comprises the following steps: obtaining the traffic state data of game participants in real time, the game participants including automatic driving vehicles and pedestrians; based on the traffic state data, constructing a utility function of the automatic driving vehicle and the pedestrian; constructing a global revenue function of a potential game based on the utility function of the autonomous vehicle and the pedestrian; and based on the global revenue function of the potential game, considering pedestrian uncertainty, constructing a game optimization problem and solving the problem to obtain a Nash equilibrium point, and based on the Nash equilibrium point, obtaining an automatic driving vehicle driving optimal control decision to realize vehicle driving control. Compared with the prior art, the method has the advantages of improving safety, stability, robustness and the like.

    本发明涉及一种博弈框架下考虑行人不确定性的车辆行驶控制方法及介质,包括以下步骤:实时获取博弈参与者的交通状态数据,所述博弈参与者包括自动驾驶车辆和行人;基于所述交通状态数据,构建自动驾驶车辆和行人的效用函数;基于所述自动驾驶车辆和行人的效用函数,构建潜在博弈的全局收益函数;基于所述潜在博弈的全局收益函数,考虑行人不确定性,构建博弈优化问题并求解,得到纳什均衡点,基于所述纳什均衡点获得自动驾驶车辆行驶最优控制决策,实现车辆行驶控制。与现有技术相比,本发明具有提高安全性、稳定性和鲁棒性等优点。


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    Titel :

    Vehicle driving control method considering pedestrian uncertainty under game framework and medium


    Weitere Titelangaben:

    博弈框架下考虑行人不确定性的车辆行驶控制方法及介质


    Beteiligte:
    SUN MENGGE (Autor:in) / GUO LULU (Autor:in) / HAN YITING (Autor:in) / CHEN HONG (Autor:in)

    Erscheinungsdatum :

    2024-03-12


    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



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