The invention discloses an intelligent vehicle urban intersection passing decision multi-objective optimization model based on conflict resolution. The intelligent vehicle urban intersection passing decision multi-objective optimization model is characterized by establishing a vehicle crossing interaction relationship judgment model by applying a fuzzy logic method according to crossing intentionof a target vehicle at an intersection and a driving type of a conflict vehicle, establishing a decision model for intersection conflict resolution based on the vehicle crossing interaction relationship judgment model, controlling the vehicles by taking acceleration as a decision variable, converting an intersection conflict resolution problem into a constrained multi-objective optimization problem, completing optimization of unmanned vehicle action generation results under different interaction modes of the intersection by introducing a variable cooperation coefficient, adopting an improved non-inferior genetic algorithm NSGA-II to solve a Pareto optimal solution set, then adopting entropy weight TOPSIS to carry out multi-attribute decision analysis on the Pareto optimal solution set, andselecting an optimal solution according to the preference of a decision maker. The intelligent vehicle urban intersection passing decision multi-objective optimization model optimizes the driving time and the driving speed of conflict vehicles, and improves the behavior decision-making level.
本发明公开了一种基于冲突消解的智能车辆城市交叉口通行决策多目标优化模型,以交叉口目标车辆的穿越意愿高低及冲突车辆的的驾驶类型,应用模糊逻辑方法建立车辆穿越交互关系判定模型,基于此进行交叉口冲突消解的决策模型建立,以加速度作为决策变量控制车辆,将交叉口冲突消解问题转化为一个带约束的多目标优化问题,通过引入可变合作系数,完成交叉口不同交互方式下的无人驾驶车辆动作生成结果的优化;采用改进型非劣遗传算法NSGA‑II求解Pareto最优解集,然后采用熵权TOPSIS对Pareto最优解集进行多属性决策分析,根据决策者的偏好挑选出最优解。将冲突车辆的行驶时间、行驶速度得到优化,提高行为决策水平。
Intelligent vehicle urban intersection passing decision multi-objective optimization model based on conflict resolution
基于冲突消解的智能车辆城市交叉口通行决策多目标优化模型
2020-04-10
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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