The invention discloses an expressway ramp confluence method based on a repeated game, and belongs to the field of unmanned driving decision making. The specific implementation method of the expressway ramp repeated game comprises the following steps of: selecting lane changing gaps and judging the game; designing a revenue function and extracting a lane changing intention; determining the moving directions of the main vehicle and the passenger vehicle according to Nash equilibrium; according to the repeated game, optimizing the game after considering the result of the last game; and judging collision safety and completing lane changing. According to the method, the lane merging efficiency at the ramp of the expressway can be improved, the condition that the ramp is crowded is reduced, and the merging safety of vehicles is guaranteed.

    本文公开了一种基于重复博弈的高速公路匝道合流方法,属于无人驾驶决策领域。高速公路匝道重复博弈的具体实施方法为:换道间隙选择和博弈判定;收益函数设计以及换道意图提取;根据纳什均衡确定主车、客车动向;根据重复博弈,在考虑上一次博弈结果后优化本次博弈;碰撞安全判定、完成换道。这种方法能够提高高速公路匝道处并道效率,减少匝道处拥挤的情况并且保障车辆的汇入安全性。


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    Title :

    Expressway ramp confluence method based on repeated games


    Additional title:

    一种基于重复博弈的高速公路匝道合流方法


    Contributors:
    XU NAN (author) / DU HANG (author) / YANG FAN (author) / ZHAO SHENGXUAN (author) / SUN NING (author)

    Publication date :

    2023-06-23


    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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