The invention provides a no-signal crossroad automatic driving planning method and device based on correlation balance. Modeling vehicles in the no-signal crossroad as a non-cooperative game; according to the conflict condition of the vehicles at the crossroad, actions are distributed for each conflict point from passing and way giving, and an action combination is formed and corresponds to a strategy; obtaining a feasible action set in modeling through the distributed permutation and combination; according to the initial speed of the vehicle entering the intersection and according to the principle of uniform-speed passing and uniform-speed-reduction way giving, speed planning is carried out on each strategy; according to a speed planning result, determining a vehicle movement track of each strategy so as to calculate earnings; and gaming strategy solving is carried out by adopting a correlation equilibrium algorithm with the benefit maximization as the target, then a final strategy combination is selected, and each vehicle is informed of a driving strategy recommended for the vehicle. When the method is applied to the vehicle decision of the non-signal crossroad, collision and deadlock can be reduced, and the passing efficiency is improved.

    本公开提供了一种基于相关均衡的无信号十字路口自动驾驶规划方法和装置。将无信号十字路口中的车辆建模为非合作博弈;根据车辆在十字路口冲突的情况,从通行和让行中,为每个冲突点分配动作,形成动作组合,对应一个策略;通过分配的排列组合获得建模中的可行动作集;根据车辆进入路口的初速度,按照匀速通行、匀减速让行的原则,对每种策略进行速度规划;根据速度规划结果,确定每种策略的车辆运动轨迹,从而计算收益;以收益最大化为目标,采用相关均衡算法进行博弈策略求解,进而选择最终策略组合,并告知每个车辆为其推荐的驾驶策略。应用本发明进行无信号十字路口的车辆决策,可以减少碰撞和死锁的发生,并提高通行效率。


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    Titel :

    No-signal crossroad automatic driving planning method and device based on correlation balance


    Weitere Titelangaben:

    基于相关均衡的无信号十字路口自动驾驶规划方法和装置


    Beteiligte:
    FANG HAO (Autor:in) / LEE SANG-HO (Autor:in) / ZENG XIANLIN (Autor:in) / ZHAO XINYUE (Autor:in) / CHEN ZHONGYAO (Autor:in)

    Erscheinungsdatum :

    07.03.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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