The invention provides a freight vehicle interactive game lane change decision-making method based on a lane change decision-making system. The invention comprises a lane changing decision-making system. The vehicle networking information platform collects state information data of an automatic driving vehicle and surrounding vehicles in real time, the speed of the vehicle is preprocessed to obtain the preprocessed speed of the vehicle, and meanwhile the position information of the vehicle is obtained; according to the collected state information, whether lane changing of the automatic driving vehicle meets the minimum safe distance condition or not is judged; establishing a utility evaluation function of the vehicle; through interaction behavior game analysis of the automatic driving vehicle and surrounding vehicles, an equilibrium behavior solution is obtained based on a stackelberg game; and judging whether the speed meets a constraint condition or not, and then adopting the obtained acceleration for lane changing or giving up lane changing. According to the invention, the occurrence rate of traffic safety accidents caused by dangerous lane changing behaviors is reduced, and the transportation benefits are improved.
本发明提出了一种基于换道决策系统的货运车辆交互博弈换道决策方法。本发明包括换道决策系统。本发明车联网信息平台实时采集自动驾驶车辆和周围车辆的状态信息数据,对车辆的速度进行预处理得到预处理后车辆的速度,同时得到车辆的位置信息;通过上述采集到的状态信息,判断自动驾驶车辆换道是否满足最小安全距离条件;建立车辆的效用评估函数;通过自动驾驶车辆与周围车辆交互行为博弈分析,基于stackelberg博弈得出均衡行为解;通过判断速度是否满足约束条件,然后采取得到加速度进行变道或放弃变道。本发明降低了危险换道行为引起的交通安全事故发生率,提高了运输效益。
Freight vehicle interactive game lane change decision-making method based on lane change decision-making system
一种基于换道决策系统的货运车辆交互博弈换道决策方法
2022-08-09
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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