The invention relates to a vehicle interactive lane changing method considering a multi-vehicle game. The method comprises the following steps: step 1, calculating a required safety distance of vehicle driving in a following state before and after lane changing; 2, calculating a longitudinal demand safety distance and a lateral demand safety distance of the vehicle in a lane changing implementation state; 3, calculating a longitudinal demand safety distance and a lateral safety distance of the lane changing vehicle, and determining an interaction area of a single vehicle; 4, obtaining the interaction degree between the vehicles according to the overlapping area of the interaction areas; and 5, calculating the lane changing driving income of the vehicle, and obtaining a lane changing driving income function. According to the method, the game theory is added in the vehicle lane changing process under the multi-vehicle interactive operation rule, so that a scheme can be provided for a driver to make a lane changing decision, the driving safety is improved, and the influence on interactive vehicles is reduced.

    本发明涉及一种考虑多车博弈的车辆交互换道方法,包括如下步骤:步骤一、计算换道前后跟驰状态下车辆行驶的需求安全距离;步骤二、计算换道实施状态下车辆纵向需求安全距离和侧向需求安全距离;步骤三、计算换道车辆的纵向需求安全距离和侧向安全距离,确定单个车辆的交互区域;步骤四、根据交互区域的重叠面积得出车辆间的交互程度;步骤五、计算车辆换道驾驶收益,得出换道驾驶收益函数。本发明通过多车交互运行规律下的车辆换道过程,加入博弈理论,能够为驾驶员换道决策提供方案,提高了行车的安全性,并减小对交互车辆的影响。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle interactive lane changing method considering multi-vehicle game


    Additional title:

    一种考虑多车博弈的车辆交互换道方法


    Contributors:
    MA YANLI (author) / LYU ZHILIANG (author) / XU XIAOPENG (author) / LOU YIZHU (author)

    Publication date :

    2022-03-08


    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 / 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



    Stackelberg-Game-Based Vehicle Lane-Changing Model Considering Driving Style

    Wu, Dongmei / Liang, Qingyang / Du, Changqing et al. | British Library Conference Proceedings | 2022


    Stackelberg-Game-Based Vehicle Lane-Changing Model Considering Driving Style

    Du, Changqing / Wu, Dongmei / Liang, Qingyang et al. | SAE Technical Papers | 2022


    Intelligent vehicle optimal lane selection method considering lane changing risk

    LIU YONGTAO / QIAO JIE / CHEN YISONG et al. | European Patent Office | 2023

    Free access

    Game theory-based lane changing decision-making method considering different vehicle types

    LI XIUKUI / WEI YUTONG | European Patent Office | 2023

    Free access

    Transverse lane changing method considering multi-vehicle interaction, intelligent vehicle and storage medium

    ZHENG XINYU / ZHANG HANGJIA / LOU JUNJIE et al. | European Patent Office | 2023

    Free access