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A lane-changing strategy calculation method for autonomous vehicles combining driving style and game theory

A driving style and calculation method technology, applied in the field of autonomous vehicle lane change strategy, can solve the problem of lack of driver consideration, and achieve the effect of effective and safe lane change decision.

Inactive Publication Date: 2021-10-12
DALIAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Talebpour et al. believed that by using vehicle interconnection, the target lane-changing vehicle can obtain the accurate running status of the surrounding vehicles in a timely manner, thereby providing strong information support for effective lane-changing decisions and improving the safety and accuracy of lane-changing. driver considerations

Method used

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  • A lane-changing strategy calculation method for autonomous vehicles combining driving style and game theory
  • A lane-changing strategy calculation method for autonomous vehicles combining driving style and game theory
  • A lane-changing strategy calculation method for autonomous vehicles combining driving style and game theory

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Embodiment Construction

[0028] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0029] 1. State diagram of lane change model

[0030] In actual scenarios, the lane-changing vehicle can change lanes to the left or to the right according to the current surrounding environment. The solutions for the two lane-changing scenarios are the same. Here, the lane-changing to the left is taken as an example ( figure 2 ). figure 1 is the state diagram of the lane-changing model, in which the initialization operation is mainly used for data collection and processing, and then calculates the style coefficient of the vehicle P2 behind the target lane at the current moment, and enters the calculation of the income function as an influencing factor of the game income, and finally according to The mixed-strategy Nash equilibrium makes a lane-changing decision as the autonomous vehicle's lane-changing decision. ...

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Abstract

A calculation method for lane-changing strategies of autonomous vehicles combined with driving style and game theory, which belongs to the field of unmanned driving in the Internet of Vehicles. At present, most of the lane-changing strategies for vehicles adopt the strategy mechanism based on the safety gap, which lacks the analysis of the interaction between vehicles, and the efficiency is low. At the same time, considering the interaction between vehicles and the driver’s driving style, the game theory method is used to effectively analyze the participants, and the driver’s driving style is used as a factor affecting the game’s income, and the Nash equilibrium is used to solve the problem. Optimal strategies for autonomous vehicles in road scenarios.

Description

technical field [0001] The invention belongs to the field of unmanned driving of the Internet of Vehicles, and relates to an autonomous vehicle lane-changing strategy combined with driving style and game theory, which provides lane-changing decisions for the autonomous vehicle. Background technique [0002] The transportation system at the present stage has developed extremely large, but at the same time, the environmental pollution and traffic safety problems have become two important problems that need to be solved urgently. Unmanned driving and assisted driving rely on the mutual communication between vehicles and between vehicles and infrastructure, which can well realize path planning and safety precautions. It has become a current research hotspot and has received close attention at home and abroad. According to the level of intelligence, intelligent connected vehicles can be divided into five levels: driving assistance, partial automatic driving, conditional automatic...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20
CPCG06F30/20
Inventor 谭国真梁文斌丁男刘明剑
Owner DALIAN UNIV OF TECH