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Lane changing decision-making method and system for autonomous vehicle based on rolling game

A decision-making method, a technology for autonomous driving, applied in the direction of road vehicle traffic control system, traffic control system, control/regulation system, etc.

Active Publication Date: 2019-10-01
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the lane-changing decision-making problem of automatic driving vehicles in complex environments, compared with the game decision-making behavior based on the current moment, the purpose of the present invention is to provide a method and system for lane-changing decision-making of automatic driving vehicles based on rolling games. Considering the driving intentions of other vehicles, a long-term game-based lane-changing strategy can improve the consistency between the decision-making of autonomous vehicles and humans; by introducing a rolling optimization strategy, it can efficiently deal with uncertainties in vehicles and the environment

Method used

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  • Lane changing decision-making method and system for autonomous vehicle based on rolling game
  • Lane changing decision-making method and system for autonomous vehicle based on rolling game
  • Lane changing decision-making method and system for autonomous vehicle based on rolling game

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Experimental program
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Effect test

Embodiment 1

[0102] Step 1: According to the external environment information or the driver (passenger) demand, give the smart car an indicator of the driving aggressiveness at the current moment. For example, the total index set is A={F, M, ε}, where F represents passing through the current forecast time domain in a more aggressive manner, M represents passing through the current forecast time domain in a gentle manner, and ε represents conservative Through the current prediction time domain, if there is no mandatory external input, the default driving aggressiveness is M.

[0103] Step 2: Output the surrounding vehicles and other information, and infer the aggressiveness of the surrounding vehicles. Among them, the guessing algorithm is a Bayesian network. The method of dynamic Bayesian network is used to predict the degree of aggressiveness, and the inherent probability framework can effectively deal with the uncertainty in the prediction process. The features used in the prediction n...

Embodiment 2

[0149] An illustrative working condition such as image 3 shown:

[0150] Car_s is an intelligent vehicle, Car_o is a surrounding vehicle, and the aggressiveness of Car_s and Car_o is the same. The smart vehicle is doing lane changing operations, while the surrounding vehicles are doing lane keeping operations.

[0151] At time t, the intelligent vehicle Car_s predicts that the longitudinal displacement required to complete the lane-changing operation is Ds, and the surrounding vehicle Car_o predicts that the displacement of the longitudinal coordinates from the current moment to the completion of the intelligent vehicle's lane-changing operation is Do.

[0152] First, the intelligent vehicle estimates the aggressiveness of the surrounding vehicles online through the dynamic Bayesian network to be the same as itself. The model used by the intelligent vehicle to predict the lane keeping of the surrounding vehicles is:

[0153]

[0154] in is the acceleration of the surro...

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Abstract

The invention discloses a lane changing decision-making method and system for an autonomous vehicle based on a rolling game. The method is characterized in that rolling optimization is carried out onthe optimum decision within each time domain, a long-run profit function is considered within each time domain, the different profit functions are set through driving radicalness degrees, surroundingvehicles and the intelligent vehicle are simultaneously considered within each time domain, and the optimum decision-making strategy for the intelligent vehicle is obtained through bi-level programming; and information of the state of the intelligent vehicle, the states of the surrounding vehicles and the road state is updated at a next moment, and a whole game process is then repeated until a stop state is achieved. The method and system disclosed by the invention has the advantages that the conformity between decisions of the autonomous vehicle and humans can be improved; and a rolling optimization strategy is introduced, so that uncertainties in the vehicle and an environment can be efficiently handled.

Description

technical field [0001] The present invention relates to the field of autonomous vehicle behavior decision-making games, in particular to a method and system for autonomous vehicle lane change decision based on rolling game. Background technique [0002] The traffic environment and execution tasks of autonomous vehicles are changeable and uncertain, which brings great challenges to autonomous driving decision-making under complex working conditions. Firstly, the uncertainty of the parameters in the kinematics and dynamics models of autonomous vehicles brings model errors; secondly, on open roads, there are not only other motor vehicles, but also some other agents such as pedestrians, and the behavior of these agents Randomness and mutual long-term game bring great challenges to autonomous decision-making, resulting in the inability to realize autonomous decision-making. Common lane-changing decision-making methods can be divided into two types according to whether to conside...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06Q10/04G08G1/01G08G1/0967
CPCG05D1/0212G05D1/0221G06Q10/047G08G1/0104G08G1/096725
Inventor 高炳钊李鑫张睿贾士政冷智鑫何刚磊
Owner JILIN UNIV
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