The invention is suitable for the technical field of intelligent vehicle driving behavior decision making, and provides an intelligent vehicle intersection straight-going speed decision making method fused with a driving style game, and the method comprises the steps: collecting the driving state information of surrounding vehicles, and recognizing the driving styles of the vehicle and the surrounding vehicles; establishing an intersection straight-going vehicle non-cooperative dynamic game income matrix fused with the driving style; adjusting the decision sequence of participants in each round of game in the dynamic game; an optimal acceleration strategy which should be adopted by each vehicle in the round is decided through a reverse induction method; and updating the vehicle state and the environment information, starting the game at the next round stage, and repeating all the steps until each intelligent vehicle safely passes through the intersection and quits the game. According to the method, on the premise that driving safety is guaranteed, intersection passing conflicts are effectively eliminated, the right of way is defined, the intelligent vehicle can safely and efficiently pass through the intersection, the decision making fluency and the humanoid degree of the intelligent vehicle at the intersection are improved, and the method better conforms to the operation habits of human drivers.

    本发明适用于智能汽车驾驶行为决策技术领域,提供了一种融合驾驶风格博弈的智能车交叉口直行速度决策方法,采集周围车辆的行驶状态信息并识别车辆自身及周围车辆的驾驶风格;建立融合驾驶风格的路口直行车辆非合作动态博弈收益矩阵;对动态博弈中每轮阶段博弈的参与者的决策先后顺序进行调整;通过逆向归纳法决策出本轮各车应采取的最优加速度策略;更新车辆状态及环境信息并开始下轮阶段博弈,重复执行上述所有步骤,直到各智能车安全通过交叉口而退出博弈。该方法在保证驾驶安全性的前提下有效地消除了交叉口通行冲突并明确路权,使智能车既安全高效地通过路口,也提高了智能车在路口决策的流畅度和拟人程度,更加符合人类驾驶员的操作习惯。


    Access

    Download


    Export, share and cite



    Title :

    Intelligent vehicle intersection straight-going speed decision-making method fusing driving style game


    Additional title:

    一种融合驾驶风格博弈的智能车交叉口直行速度决策方法


    Contributors:
    ZHAO HAIYAN (author) / LI CHENG (author) / LU XINGHAO (author) / XU CHENGCHENG (author) / LEE KWANG-WOOK (author)

    Publication date :

    2022-11-18


    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



    Behavior decision-making method for intelligent vehicle passing intersection

    WANG ZIJIAN / ZHAO JUN / GUO JIANHUA et al. | European Patent Office | 2023

    Free access

    Intelligent vehicle decision-making method considering uncertainty at intersection

    DENG HUIFAN / ZHAO YOUQUN / ZHANG CHENXI | European Patent Office | 2023

    Free access

    Intersection vehicle driving decision-making method, device and equipment

    YIN WEIJUN | European Patent Office | 2022

    Free access

    Empirical approach for understanding vehicle-pedestrian accident in going straight an intersection

    Tagawa, T. / Uchida, N. / Mochida, T. et al. | British Library Conference Proceedings | 2011


    INTELLIGENT DRIVING DECISION-MAKING METHOD, DECISION-MAKING APPARATUS AND VEHICLE

    HAO DONGHAO / ZHANG ZHONGSHUN / YANG SHAOYU et al. | European Patent Office | 2024

    Free access