The invention relates to an automatic driving forced lane changing decision-making method based on a dynamic continuous game, which belongs to the technical field of intelligent connected automobiles and comprises the following steps: acquiring motion state information of a self-vehicle and surrounding vehicles in a forced lane changing scene through a vehicle-mounted sensor and vehicle-to-vehicle communication; calculating a collision boundary; generating an initial decision based on non-cooperative non-zero and dynamic games; optimizing the initial strategy by adopting a game strategy based on information continuity; and outputting a final forced lane change decision under the condition that the strategy after game decision optimization based on information continuity is continuously kept for three periods. According to the automatic driving forced lane changing dynamic game decision-making method considering decision-making continuity, the decision-making model is constructed by adopting non-cooperative non-zero and dynamic games, so that the driving safety, comfort and efficiency are improved; through a dynamic game algorithm based on decision continuity, decision adaptability and predictability are enhanced, stability and consistency of decision output are ensured, and uncertainty and risk are reduced.
本发明涉及一种基于动态连续博弈的自动驾驶强制换道决策方法,属于智能网联汽车技术领域,包括步骤:通过车载传感器和车车通信获得强制换道场景中自车与周围车辆的运动状态信息;计算碰撞边界;基于非合作非零和动态博弈生成初始决策;采用基于信息连续性的博弈策略优化初始策略;以采用基于信息连续性的博弈决策优化后的策略连续保持三个周期为条件,输出最终的强制换道决策。本发明是一种考虑决策连续性的自动驾驶强制换道动态博弈决策方法,采用非合作非零和动态博弈构建决策模型,提升行驶安全、舒适和效率;通过基于决策连续性的动态博弈算法,增强决策适应性和预测性,确保决策输出的稳定性和一致性,降低不确定性和风险。
Automatic driving forced lane changing decision-making method based on dynamic continuous game
一种基于动态连续博弈的自动驾驶强制换道决策方法
2024-12-13
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 |
European Patent Office | 2024
|Port wharf surface automatic driving lane changing decision-making method based on game theory
European Patent Office | 2023
|Automatic driving lane changing decision making method and device and vehicle
European Patent Office | 2021
|Automatic driving intelligent acceleration and deceleration lane changing decision-making method
European Patent Office | 2025
|Differential automatic lane changing decision-making method
European Patent Office | 2023
|