The invention relates to an intelligent automobile lane changing trajectory planning method based on a non-cooperative game. A third-order dynamic model is adopted, and compared with a traditional second-order dynamic model, the inertia link of the vehicle is added, and the method is closer to the real situation; the non-cooperative game is used for planning the lane changing track of the vehicle, and compared with heuristic track planning and graph search methods, the influence of multiple factors such as safety and comfort on vehicle control of a driver is considered, interaction between the vehicles is also considered, and the vehicle lane changing track planning method has the advantages of being high in practicability and easy to popularize. The method is more practical in an environment in which human-driven vehicles and intelligent-driven vehicles coexist on roads in the future; driving of the vehicle before and after lane changing is controlled by adopting a full speed difference model, so that the driving safety of the vehicle is guaranteed; and cubic B-spline interpolation is adopted, so that the problem of sudden change of the control quantity of discrete points is solved, actual vehicle control is better met, a change curve is quite smooth, and vehicle control is more stable.
本发明涉及一种基于非合作博弈的智能汽车换道轨迹规划方法。采用三阶动力学模型,相较于传统的二阶动力学模型,增加了车辆的惯性环节,更贴近真实情况;使用非合作博弈对车辆换道轨迹进行规划,相较于启发式轨迹规划以及图搜索类方法,既考虑多方面因素如安全和舒适度对驾驶员操纵车辆带来的影响,也考虑到了车辆之间的交互性,在未来人类驾驶车辆以及智能驾驶车辆在道路上共存的环境下,更具有实用性;采用了全速度差模型对车辆在换道前后的驾驶做出控制,保障了车辆驾驶的安全性;采用三次B样条插值,改善了离散点的控制量突变问题,更符合实际车辆操纵,且变化曲线相当光滑,使车辆控制更加稳定。
Intelligent automobile lane changing trajectory planning method based on non-cooperative game
一种基于非合作博弈的智能汽车换道轨迹规划方法
2023-03-14
Patent
Electronic Resource
Chinese
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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