The invention relates to a vehicle collaborative decision-making system and method based on an incomplete information dynamic game. The system comprises an observation module, a driver intention identification module, a belief pool updating module, a joint strategy income calculation module and a behavior decision-making module. The observation module is connected with the driver intention identification module and the combined strategy income calculation module, the driving intention identification module is connected with the belief pool updating module, the belief pool updating module is connected with the combined strategy income calculation module, and the combined strategy income calculation module is connected with the behavior decision module; the method comprises the following steps: S1, judging the driving state information of two parties with road right conflicts through an observation module; s2, according to the driving state information of the two conflicting parties, the driving intention of the vehicle or the driver is judged; s3, updating a driver type distribution probability in a belief pool updating module; s4, calculating revenue functions of all feasible joint strategies; and S5, the most joint distribution strategy is decided.
本发明涉及一种基于不完全信息动态博弈的车辆协同决策系统及方法,系统包括观测模块、驾驶员意图辨识模块、信念池更新模块、联合策略收益计算模块、行为决策模块;观测模块连接驾驶员意图辨识模块、联合策略收益计算模块,驾驶意图辨识模块连接信念池更新模块,信念池更新模块连接联合策略收益计算模块,联合策略收益计算模块连接行为决策模块;方法包括以下步骤:步骤S1:通过观测模块判断发生路权冲突的双方行驶状态信息;步骤S2:根据冲突双方的驾驶状态信息,判断车辆或驾驶员的驾驶意图;步骤S3:对信念池更新模块中驾驶员类型分布概率进行更新;步骤S4:计算所有可行联合策略的收益函数;步骤S5:决策出最有联合分布策略。
Vehicle collaborative decision-making system and method based on incomplete information dynamic game
一种基于不完全信息动态博弈的车辆协同决策系统及方法
2023-01-10
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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