The invention discloses a lane changing trajectory planning method based on an information physical iterative game. The method comprises the steps that S1, the longitudinal distance between a lane and a target lane is divided into N horizontal lines; s2, defining revenue functions of lane changing vehicles and competitive vehicles; s3, collecting driving state information and road environment information of the vehicle and surrounding vehicles, solving an evolution stable strategy to obtain an optimal lane changing strategy, if the optimal lane changing strategy is continuous lane changing, executing S4, if the optimal lane changing strategy is lane keeping, executing S5, and otherwise, executing S6; s4, according to the lane changing strategy planned in the S3, a lane changing track is generated; s5, generating a lane keeping track according to the lane keeping strategy planned in S3; s6, according to the rollback strategy planned in the S3, generating a vehicle moving track moving to the transverse position of the previous moment; and S7, repeating the processes of S3-S6 until the lane change is successful. According to the method, the traffic condition at each moment is considered, the optimal track at each moment is completed in a progressive mode, and finally lane changing track planning of the automatic driving vehicle is achieved.
本发明公开了一种基于信息物理迭代博弈的换道轨迹规划方法,包括:S1:将本车道与目标车道的纵向距离分为N条水平线;S2:定义换道车辆及竞争车辆的收益函数;S3:采集本车及周围车辆的行驶状态信息及道路环境信息,求解演化稳定策略得到最优换道策略,若为继续换道进行S4,若为车道保持进行S5,否则进行S6;S4:根据S3规划的换道策略,生成换道轨迹;S5:根据S3规划的车道保持策略,生成车道保持轨迹;S6:根据S3规划的回退策略,生成运动到上一时刻横向位置的车辆运行轨迹;S7:重复S3‑S6的过程,直至换道成功。本发明在考虑每一时刻的交通状况,以递进的形式完成每一时刻的最优轨迹,最终实现了对自动驾驶车辆的换道轨迹规划。
Lane changing trajectory planning method based on cyber-physical iterative game
一种基于信息物理迭代博弈的换道轨迹规划方法
2023-06-13
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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