The invention provides a dynamic game-based intelligent vehicle lane change decision-making method in foggy days, a lane change intention model comprises a dissatisfaction model and a safety distance model, and a lane change income model comprises a safety income model, a speed income model and a comfort income model; dissatisfaction information of the vehicle is obtained through the dissatisfaction model, lane changing safety distance information of the vehicle is obtained through the safety distance model, and lane changing intention information is obtained according to the dissatisfaction information and the lane changing safety distance information; after the lane changing intention is generated, speed income information and safety income information of the vehicle and comfort income information of the vehicle and vehicles behind the target lane are obtained respectively; analyzing and acquiring total income information under each strategy combination; and obtaining an optimal strategy combination according to the total income information, and taking the optimal strategy combination as a lane changing decision. According to the method, the optimal lane changing mode is evaluated through the game revenue function, and the problems of safety, real-time performance and efficiency of lane changing decision making under the low-visibility condition are solved.

    本发明提供了一种基于动态博弈的雾天智能车辆换道决策方法,换道意图模型包括不满意度模型和安全距离模型,换道收益模型包括安全收益模型、速度收益模型和舒适度收益模型;通过不满意度模型获取本车辆的不满意度信息,通过安全距离模型获取本车辆的换道安全距离信息,根据不满意度信息和换道安全距离信息获取换道意图信息;产生换道意图后分别获取本车辆的速度收益信息及安全收益信息和本车辆及目标车道后车的舒适度收益信息;之后分析获取每个策略组合下的总收益信息;根据总收益信息获取最优策略组合,并将最优策略组合作为换道决策。本发明通过博弈收益函数评估最佳换道方式,解决低能见度条件下换道决策的安全性、实时性与效率问题。


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    Title :

    Dynamic game-based intelligent vehicle lane change decision-making method in foggy days


    Additional title:

    一种基于动态博弈的雾天智能车辆换道决策方法


    Contributors:
    WANG JIE (author) / MA JIAHUI (author) / YIN ZICHENG (author) / ZHANG HANYAO (author)

    Publication date :

    2025-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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