The invention discloses a non-signalized intersection vehicle collision avoidance strategy method based on a differential game, and each vehicle can select to make a decision independently and can act in a cooperative mode. The problem is described as a dynamic differential game, that is, two vehicles make decisions according to the expected behavior of the opposite vehicle. The method considers a non-cooperative game (the vehicle only optimizes the own cost) and a cooperative game (the vehicle coordinates a decision to optimize the joint cost). Different from a traditional discrete game theory in which the acceleration of a vehicle is divided into a plurality of segments, the method provided by the invention proposes a differential game to generate an acceleration signal of continuous time, and the signal can be freely changed during the crossing period of the whole intersection. The effectiveness of the differential game method is verified through analogue simulation, and compared with a traditional discrete game theory method, the method can enable the vehicle to pass through the non-signal intersection more quickly, and meanwhile, the requirements for safety and comfort are met.
本发明公开了一种基于微分博弈的无信号交叉口车辆避免碰撞策略方法,每辆车即可以选择独立做出决策,也可以以协作的方式行动。该问题被描述为一个动态微分博弈,即两辆车根据对方车辆的预期行为做出决策。本发明考虑了非合作博弈(车辆仅优化自身成本)和合作博弈(车辆协调决策以优化联合成本)。与传统的离散博弈论将车辆加速度划分为多个片段的方法不同,本发明提出微分博弈生成连续时间的加速度信号,该信号在整个交叉路口穿越期间可自由变化。通过仿真模拟验证微分博弈方法的有效性,本发明与传统的离散博弈理论方法相比,该方法能使车辆更快地通过无信号交叉路口,同时满足安全性和舒适性要求。
Non-signalized intersection vehicle collision avoidance strategy method based on differential game
一种基于微分博弈的无信号交叉口车辆避免碰撞策略方法
2025-04-15
Patent
Electronic Resource
Chinese
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