The invention provides an overtaking decision-making method based on a game theory, and relates to the technical field of automatic driving control. Comprising the following steps: S1, establishing a driving scene used by the overtaking decision-making method; s2, establishing an overtaking decision model based on the game theory; s3, testing the established overtaking decision model; wherein the step S2 comprises the following steps: step S2-1: acquiring surrounding vehicle information; step S2-2, making a preliminary decision; step S2-3, setting a revenue function; s2-4, determining a game playing mode according to the vehicle driving scene; step S2-5, establishing a vehicle track prediction model; step S2-6, carrying out regional risk degree verification; and S2-7, determining a game starting condition, and making an overtaking decision. According to the method, the game theory is applied to replace a traditional deep learning technology, and the problems that in the prior art, an overtaking decision method based on deep learning needs to depend on long-term training of a large amount of data and has uninterpretability, so that the computing power cost is very high, and the decision stability is not ideal enough are solved.
本发明提供一种基于博弈论的超车决策方法,涉及自动驾驶控制技术领域。包括步骤S1:建立超车决策方法使用的行驶场景;步骤S2:基于博弈论理论建立超车决策模型;步骤S3:测试所建立的超车决策模型;其中步骤S2包括步骤S2‑1:获取周围车辆信息;步骤S2‑2:作出初步决策;步骤S2‑3:设置收益函数;步骤S2‑4:根据车辆行驶场景确定博弈方式;步骤S2‑5:建立车辆轨迹预测模型;步骤S2‑6:进行区域风险度验证;步骤S2‑7:确定博弈开始条件,作出超车决策。本发明应用博弈论替代了传统的深度学习技术,解决了现有技术中基于深度学习的超车决策方法由于需要依赖大量数据的长期训练以及具备不可解释性,会导致算力成本很高、决策稳定性不够理想的问题。
Overtaking decision-making method based on game theory
一种基于博弈论的超车决策方法
2024-10-08
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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