The invention discloses an automatic driving vehicle decision planning method considering an interactive game. The method comprises the following steps: acquiring relative position and relative speedinformation of surrounding vehicles in real time; performing local trajectory prediction on surrounding vehicles based on the vehicle kinematics model; establishing an interactive game model of the vehicle and surrounding vehicles through a Nash game method; determining a joint optimal driving behavior by utilizing an inferior elimination strategy and a Nash equilibrium method; and planning a corresponding track according to the determined optimal driving behavior of the vehicle, and outputting the track to a control execution module of the vehicle. After the motion information of the surrounding vehicles is obtained through the sensor, the motion of the surrounding vehicles is predicted through the vehicle kinematics model, and the interactive game with the surrounding vehicles is fully considered.

    本发明公开了一种考虑交互博弈的自动驾驶车辆决策规划方法,步骤如下:实时获取周围车辆的相对位置和相对速度信息;基于车辆运动学模型对周围车辆进行局部轨迹预测;通过纳什博弈方法建立自车与周围车辆的交互博弈模型;利用剔除劣势策略及纳什均衡法来确定联合最优驾驶行为;根据确定的自车最优驾驶行为,规划出相应的轨迹,输出给车辆的控制执行模块。本发明通过传感器获取周围车辆运动信息后,利用车辆运动学模型来预测周围车辆运动并充分考虑与周围车辆的交互博弈。


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    Title :

    Automatic driving vehicle decision planning method considering interactive game


    Additional title:

    一种考虑交互博弈的自动驾驶车辆决策规划方法


    Contributors:
    XU CAN (author) / ZHAO WANZHONG (author) / LI LIN (author) / LIU JINQIANG (author)

    Publication date :

    2021-02-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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