With the development of science and technology, breakthroughs have been made in the fields of intelligent algorithms, environmental perception, chip embedding, scene analysis, and multi-information fusion, which has prompted the wide attention of society, manufacturers and owners of autonomous vehicles. As one of the key issues in the research of autonomous vehicles, the research of vehicle lane change algorithm is of great significance to the safety of vehicle driving. This paper focuses on the conflict of interest between the lane-changing vehicle and the target lane vehicle in the fully autonomous driving environment, and proposes the method of coupling kinematics and game theory, so that when the vehicle is in the process of lane changing game, the lane-changing vehicle and the target lane vehicle can make decisions that are beneficial to the balance of interests of both sides. This paper first proposes the conditions for judging whether the lane-changing vehicle and the target lane vehicle are in the lane-changing game. According to the actual vehicle driving situation, the type of payoff in the game between the two vehicles is determined. The payoff function is designed by using the kinematic method, and the corresponding total payoff value under the different strategy combinations of the two vehicles is obtained. Then, the game payoff matrix is analyzed, and the optimal strategy combination and the corresponding acceleration are obtained. Finally, the optimal strategy combination of the two vehicles is determined, which can effectively avoid the safety problem, and the overall payoff of the two sides is relatively balanced.The results of experience indicate that two vehicles will choose the most beneficial strategy combination and then make their own decisions according to the proposed model, at the same time, this paper also respectively analyzes the payoffs of the vehicles in the velocity and the relative position of different cases to verify the feasibility and rationality of the model.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coupled Game Theory-Based Kinematics Decision Making for Automatic Lane Change


    Additional title:

    Sae Technical Papers


    Contributors:
    Wang, Ke (author) / Li, Xingcan (author) / Zhan, Zhenfei (author)

    Conference:

    SAE 2021 Intelligent and Connected Vehicles Symposium Part II ; 2021



    Publication date :

    2022-03-31




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Coupled Game Theory-Based Kinematics Decision Making for Automatic Lane Change

    Li, Xingcan / Zhan, Zhenfei / Wang, Ke | British Library Conference Proceedings | 2022


    Freight vehicle interactive game lane change decision-making method based on lane change decision-making system

    HE YI / LI YANGZHAO / FENG QI et al. | European Patent Office | 2022

    Free access

    Game Theory-Based Lane Change Decision-Making Considering Vehicle’s Social Value Orientation

    Zhao, Chenyang / Chu, Duanfeng / Zhang, Mingshuai et al. | SAE Technical Papers | 2023


    Port wharf surface automatic driving lane changing decision-making method based on game theory

    ZHANG ZUFENG / ZHANG RAN / LIN QI | European Patent Office | 2023

    Free access

    Game theory-based lane changing decision-making method considering different vehicle types

    LI XIUKUI / WEI YUTONG | European Patent Office | 2023

    Free access