The invention provides a vehicle lane changing decision-making method and system under a multi-vehicle game, a vehicle and a medium. The vehicle lane changing decision-making method under the multi-vehicle game comprises the steps that external environment information and prediction information are collected; obtaining lane changing vehicle income and interactive vehicle income according to the external environment information and the prediction information; constructing a total revenue matrix according to the lane changing vehicle revenue and the interactive vehicle revenue; solving the total income matrix to obtain an optimal solution of the lane changing strategy; forming a corresponding planning track according to the optimal solution of the lane changing strategy; wherein the lane changing vehicle income is the income of the lane changing vehicle, and the interactive vehicle income is the income of the interactive vehicle; the interactive vehicles comprise a vehicle in front of the target lane and a vehicle behind the target lane; the interactive vehicle revenue comprises the target lane front vehicle revenue and the target lane rear vehicle revenue. The technical problems that a traditional lane changing decision-making method depends on simulation and is low in interpretability and robustness due to a large amount of real vehicle data are solved.

    本发明提供了一种多车博弈下的车辆换道决策方法、系统、车辆和介质,多车博弈下的车辆换道决策方法包括:采集外界环境信息和预测信息;根据外界环境信息和预测信息获取换道车辆收益和交互车辆收益;根据换道车辆收益和交互车辆收益构建总收益矩阵;对总收益矩阵进行求解以获得换道策略最优解;根据换道策略最优解形成相应的规划轨迹;其中,换道车辆收益为换道车辆的收益,交互车辆收益为交互车辆的收益;交互车辆包括:目标车道前车和目标车道后车;交互车辆收益包括:目标车道前车收益和目标车道后车收益。本发明解决传统的换道决策方法依赖仿真、大量实车数据,可解释性和鲁棒性较低的技术问题。


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    Title :

    Vehicle lane changing decision-making method and system under multi-vehicle game, vehicle and medium


    Additional title:

    一种多车博弈下的车辆换道决策方法、系统、车辆和介质


    Contributors:
    WANG HAOWEI (author) / ZHANG HANGJIA (author) / LOU JUNJIE (author) / XING WENZHI (author) / CHENG WEI (author) / TANG JINGMAN (author) / XU DINGNING (author) / WU YUYANG (author)

    Publication date :

    2024-07-16


    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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