The invention provides a mixed game-based lane changing behavior decision-making method for an automatic driving vehicle in a roundabout scene. The method comprises the following steps of: firstly, determining a driving style of the automatic driving vehicle; secondly, according to rule design, the route after the trolley enters the roundabout under the ideal condition is defaulted to be clear; the game decision among the trolleys is made by defining three concepts of an entrance guide area, an exit guide area and a buffer area of the roundabout. And solving the value return of the vehicle in the future driving segment by comprehensively considering the style and the driving intention probability by adopting a mixed game thought, and obtaining the driving behavior at the next moment. And finally, applying the solved driving behavior to the trolley. The problems that in the prior art, research in the roundabout field is lacked, and due to the fact that driving styles are difficult to judge accurately, lane changing is difficult to make decisions, risks exist, and efficiency is low are solved.
本发明提出了一种基于混合博弈的环岛场景下自动驾驶车辆换道行为决策法,包括以下步骤:首先确定其驾驶风格;其次根据规则设计,默认理想情况下小车进入环岛后的路线是明确的。通过定义环岛“入口引导区”,“出口引导区”以及“缓冲区”三个概念来进行小车之间的博弈决策。采用混合博弈的思路,求解车辆在未来行驶片段内综合考虑风格与驾驶意图概率的价值回报,得出下一时刻的驾驶行为。最后将求解得到的驾驶行为应用在小车上。本发明解决了现有技术中缺乏在环岛领域的研究以及驾驶风格难以准确判断而造成的换道难决策、有风险、低效率的问题。
Decision-making method for lane changing behavior of automatic driving vehicle in roundabout scene based on mixed game
基于混合博弈的环岛场景下自动驾驶车辆换道行为决策法
2024-08-13
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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