The embodiment of the invention provides a lane changing decision-making method and device, equipment, a medium and a vehicle. The lane changing decision-making method comprises the following steps: determining a target lane and a competitive vehicle located on the target lane; constructing a plurality of lane changing acceleration sequences and a plurality of competitive acceleration sequences; combining the lane changing acceleration sequence and the competitive acceleration sequence in pairs to obtain a plurality of sequence combinations; driving simulation is carried out based on each sequence combination, and single-point lane changing safety earnings and single-point competition safety earnings at each moment are determined; calculating the global lane changing income of the lane changing vehicle according to the single-point lane changing safety income, calculating the global competitive income of the competitive vehicle according to the single-point competitive safety income, and combining the global income into a global income pair; and selecting a target revenue pair meeting Nash equilibrium from all the global revenue pairs, and determining a lane changing strategy according to the target revenue pair. According to the lane changing decision method provided by the embodiment of the invention, the finally determined lane changing strategy can be globally optimal.

    本公开实施例提供一种换道决策方法、装置、设备、介质和车辆。换道决策方法,包括:确定目标车道和位于目标车道上的竞争车辆;构建多个换道加速度序列和多个竞争加速度序列;将换道加速度序列和竞争加速度序列两两组合得到多个序列组合;基于各个序列组合分别进行行驶模拟,确定各个时刻的单点换道安全性收益和单点竞争安全性收益;根据单点换道安全性收益计算换道车辆的全局换道收益,根据单点竞争安全性收益计算竞争车辆的全局竞争收益,并组合为全局收益对;在所有的全局收益对中选择满足纳什均衡的目标收益对,并根据目标收益对确定换道策略。本实施例提供的换道决策方法可以使得最终确定的换道策略为全局最优。


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    Title :

    Lane changing decision-making method, device, equipment, medium and vehicle


    Additional title:

    换道决策方法、装置、设备、介质和车辆


    Contributors:
    MU BOWEN (author)

    Publication date :

    2023-03-17


    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



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