The invention discloses an automatic driving vehicle lane changing decision-making method, equipment, a medium and a product, and relates to the field of vehicle automatic control. The method comprises the following steps: acquiring state information of each participating vehicle influencing the lane changing decision of the automatic driving vehicle; determining a driving style evaluation result of each participating vehicle according to the state information of each participating vehicle; state machines of the automatic driving vehicle and the participating vehicles under different lane changing decisions are determined, and a lane changing decision set of the automatic driving vehicle and a response decision set of the participating vehicles are constructed; and constructing and solving a Bayesian Startkolberg game model, and obtaining an optimal lane changing decision of the automatic driving vehicle in the game process. According to the method, the lane changing behavior of the unmanned vehicle is modeled into the incomplete information dynamic game, and the Bayesian Startkolberg game model is constructed, so that the unmanned vehicle can interact with social vehicles with different driving styles, and decisions more conforming to human driving habits are made.
本发明公开一种自动驾驶车辆换道决策方法、设备、介质及产品,涉及车辆自动控制领域。该方法包括:获取影响自动驾驶车辆换道决策的各个参与车辆的状态信息;根据各参与车辆的状态信息,确定各参与车辆的驾驶风格评估结果;确定不同换道决策下自动驾驶车辆和各参与车辆的状态机,并构建自动驾驶车辆的换道决策集合和参与车辆的反应决策集合;构建贝叶斯斯塔柯尔伯格博弈模型并求解,获取博弈过程中自动驾驶车辆的最优换道决策。本发明将无人驾驶车辆换道行为建模成非完全信息动态博弈,并构建了贝叶斯斯塔柯尔伯格博弈模型,使无人驾驶车辆可以与不同驾驶风格的社会车辆进行交互,从而做出更符合人类驾驶习惯的决策。
Lane changing decision-making method and device for automatic driving vehicle, medium and product
一种自动驾驶车辆换道决策方法、设备、介质及产品
2024-07-12
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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