The invention belongs to the technical field of intelligent vehicle decision making, and relates to intelligent vehicle lane changing decision making based on the game theory, in particular to a game theory-based lane changing decision making method considering different vehicle types. According to the method, vehicle information is collected through vehicle-mounted data collection equipment of an intelligent vehicle; according to the collected information, lane changing decision judgment is carried out; informing a lane change request through V2V communication; determining game participants, and establishing a driving intention set for the two game parties; according to different vehicle types, determining driving earnings in the lane changing process; gaming between the current vehicle and a vehicle behind the target lane is carried out, and a lane changing decision model is established; according to the defined revenue function, revenues corresponding to different driving intentions of the lane changing vehicle and the lagging vehicle are calculated; and solving Nash equilibrium to obtain a final driving decision. According to the invention, the road passing efficiency and the safety and feasibility of the intelligent vehicle decision-making result can be improved.
本发明属于智能车决策技术领域,涉及到基于博弈论的智能车换道决策,特别涉及到一种考虑不同车型的基于博弈论换道决策方法。该方法中,通过智能车的车载数据采集设备采集车辆信息;依据采集到的信息,进行换道决策判断;通过V2V通信告知换道请求;确定博弈参与者,为博弈双方建立驾驶意图集;根据不同的车辆类型,确定换道过程中的驾驶收益;进行当前车辆与目标车道后方车辆的博弈,建立换道决策模型;根据上述定义的收益函数,计算出换道车和滞后车辆不同驾驶意图对应的收益;求解纳什均衡,获得最终驾驶决策。本发明有助于提高道路通行效率及智能车决策结果的安全性和可行性。
Game theory-based lane changing decision-making method considering different vehicle types
一种考虑不同车型的基于博弈论换道决策方法
2023-03-21
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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