The invention discloses an automatic driving vehicle game lane changing decision-making method and device considering a driving style. The method comprises the steps that in the process that a vehicle changes from a current lane to a target lane, motion information of a rear target vehicle in the target lane is collected; if the collision time of the predicted trajectory of the target vehicle and the predicted trajectory of the own vehicle is within a preset collision time range, controlling the own vehicle to generate a lane changing tentative behavior; driving style information of a driver of the target vehicle is determined by collecting response motion data of the target vehicle, and the driving style information comprises a driving style type and a calibrated intelligent driver model; according to the environment information and the driving style information, determining a lane changing track and a following track of the vehicle and a yielding track and a robbing track of the target vehicle; and calculating a game revenue matrix according to the trajectory, and controlling the own vehicle to execute a decision result with the highest revenue. The technical problems of conservative decision and low lane changing success rate of the vehicle in the scene of road right conflict are solved.
本发明公开考虑驾驶风格的自动驾驶车辆博弈换道决策方法及装置。所述方法包括:自车从当前车道换道至目标车道的过程中,采集目标车道中后方目标车辆的运动信息;若目标车辆预测轨迹与自车预测轨迹的碰撞时间在预设的碰撞时间范围内,控制自车产生换道试探行为;通过采集目标车辆的响应运动数据,确定目标车辆驾驶人员的驾驶风格信息,所述驾驶风格信息包括驾驶风格类型和标定后的智能驾驶员模型;根据环境信息和驾驶风格信息,确定自车的换道轨迹与跟驰轨迹、目标车辆的让行轨迹与抢行轨迹;根据轨迹计算博弈收益矩阵,控制自车执行收益最高的决策结果。本申请解决了车辆在存在路权冲突的场景下决策保守、换道成功率较低的技术问题。
Automatic driving vehicle game lane changing decision-making method and device considering driving style
考虑驾驶风格的自动驾驶车辆博弈换道决策方法及装置
2024-06-14
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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