The invention provides a multi-vehicle game lane changing trajectory planning method based on a roadside cooperative control unit. The method comprises the steps that S1, an automatic driving vehicle carries out lane changing behavior tentative to transmit lane changing information to a competitive vehicle; s2, the roadside cooperative control unit obtains automatic driving vehicle state data and competitive vehicle state data, and establishes a lane changing revenue function; and S3, according to the lane changing revenue function, adopting a quintic polynomial to carry out lane changing trajectory planning. According to the method, the technical problems of low model precision and weak reliability caused by complexity of vehicle conditions and high training cost of an existing deep learning model for lane changing decision of the automatic driving vehicle can be solved. The invention discloses a multi-vehicle game lane changing trajectory planning method based on a roadside cooperative control unit.
本发明提供一种基于路侧协同控制单元的多车博弈变道轨迹规划方法,包括:S1、自动驾驶车辆进行变道行为试探对竞争车辆传递变道信息;S2、路侧协同控制单元获取自动驾驶车辆状态数据和竞争车辆状态数据,建立变道收益函数;S3、根据变道收益函数,采用五次多项式进行变道轨迹规划。本发明可以解决现有的用于自动驾驶汽车变道决策的深度学习模型由于车况的复杂性,训练成本很大导致模型精度不高,可靠性弱的技术问题。一种基于路侧协同控制单元的多车博弈变道轨迹规划方法。
Multi-vehicle game lane changing trajectory planning method based on roadside cooperative control unit
一种基于路侧协同控制单元的多车博弈变道轨迹规划方法
2024-08-27
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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