Method for establishing automatic driving lane changing decision model in hybrid driving environment

Abstract

The invention discloses a method for establishing an automatic driving lane changing decision model in a hybrid driving environment, a multi-step dynamic game lane changing model of an automatic driving vehicle LV and a human driving vehicle RV in the hybrid driving environment are established, and a set of nested game algorithm for the automatic driving vehicle is designed. The method comprises the following steps: firstly, establishing a multi-step dynamic game framework; enabling the vehicles of the two parties to decide the following action according to the strategy selection of the otherparty; defining potential conflict points of the lane changing vehicles and the rear vehicles of the target lane; formulating starting and ending condition criteria of the game according to the initial information of the vehicle, the strategy and the game step number; and then enabling the two vehicles to use respective strategy and acceleration selection methods to carry out dynamic gaming untilthe lane changing termination condition is met, so that under the condition that the automatic driving vehicle does not meet the condition of direct lane changing, the lane changing space can also bemanufactured through the game playing with the human driving vehicle, and safe lane changing is achieved.

Description

technical field [0001] The invention relates to a method for establishing a lane-changing decision model for automatic driving in a mixed driving environment. Background technique [0002] In recent years, autonomous driving technology has received more and more attention worldwide, and is considered to be an emerging technology that can subvert traditional transportation and plays an important role in solving traffic safety and traffic congestion problems. However, the transition from all human-driven vehicles on the current road to fully autonomous driving is bound to be a long-term process. During this process, the traffic environment is a mixed environment of human-driven and autonomous vehicles. Self-driving vehicles not only need to complete safe and efficient driving in a fully automatic driving environment, but also need to adapt to a mixed driving environment. [0003] According to the existing research on lane-changing decision-making for autonomous driving, the c...

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Problems solved by technology

[0006] At present, although there has been related research on this issue, this research cannot adjust its own strategy according to the actual strategy selection of human-driven vehicles, but only makes assumptions about the behavior of RVs by evaluating the aggressiveness of RV vehicles. , in the case of an error in the aggressiveness estimate, it may cause the LV to change lanes when the RV does not avoid, thus causing safety hazards

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