Automatic driving vehicle entrance and exit ramp driving decision-making method based on dynamic game

A dynamic game, automatic driving technology, applied in the traffic control system of road vehicles, machine learning, instruments, etc., can solve the problems of timeliness and applicability to be tested, etc.

Active Publication Date: 2019-08-09
JILIN UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

The current collision avoidance system algorithms are mostly based on the calculation of complex conflict areas, and their timeliness and applicability are yet to be tested

Method used

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  • Automatic driving vehicle entrance and exit ramp driving decision-making method based on dynamic game
  • Automatic driving vehicle entrance and exit ramp driving decision-making method based on dynamic game
  • Automatic driving vehicle entrance and exit ramp driving decision-making method based on dynamic game

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Embodiment Construction

[0056] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0057] refer to figure 2 , the present invention proposes a dynamic game-based method for decision-making on entrance and exit ramps of self-driving vehicles, including the following decision-making process:

[0058] Step 1, using the DSRC communication method to identify the target vehicle. The two intersection vehicles in the ramp scene of the present invention are equipped with on-board OBU equipment, which utilizes DSRC wireless communication technology to identify the existence of game targets and transmit various game information. DSRC technology is characterized by simple application equipment and relatively mature technology. Currently, the communication range can reach about 300m. In the present invention, both vehicles adopt a non-directional and extensive propagation mode, that is, the communication identification area is within a circle with a radius o...

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Abstract

The invention belongs to the field of automobile active safety, and relates to an automatic driving vehicle entrance and exit ramp driving decision-making method based on a dynamic game. The method comprises the following steps that: 1: utilizing a DSRC (Dedicated Short Range Communications) method to identify a target vehicle; 2: judging whether two vehicles have a conflict or not, and applying aconflict time difference [Delta]T to judge the conflict between two vehicles; 3: establishing a game model, and applying a subgame perfect Nash equilibrium dynamic game theory to decide a vehicle intersection behavior; 4: calculating an equilibrium point, according to determined respective expected revenue, calculating a replicator dynamics equation, and constantly regulating the own passage probability of two vehicles through the opposite-side replicator dynamics equation; 5: judging the stability of the equilibrium point to select an optimal decision; and 6: driving according to the strategy of the stable equilibrium point. By use of the method, through the probability expectation of the game thought and a concept of loss in revenue, the game equilibrium point is combined to make an optimal passage decision in real time, and an efficient and simple method and thought can be opened up for a vehicle interaction decision.

Description

technical field [0001] The invention belongs to the field of automobile active safety, uses sub-game perfect Nash equilibrium dynamic game theory, and based on the intersection environment of two vehicles at the ramp, designs a driving decision-making method involving the combination of dynamic game and V2X intelligent networked automobile technology, specifically relates to a method based on On-ramp driving decision method for autonomous vehicles based on dynamic game. Background technique [0002] According to the statistical analysis of traffic accidents in recent years, the traffic accidents at intersections of lanes have a significant impact on the total number of traffic accidents and fatal accidents in China. Also, unlike other high percentages of collisions (such as road departures and rear-end collisions) for which radar and camera-based forward collision systems are now available, there are currently no proven technologies to address side-on collisions at intersect...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G08G1/16B60W30/08G06N20/00
CPCB60W30/08G08G1/166G06N20/00
Inventor 胡宏宇程铭
Owner JILIN UNIV
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