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Establishment method of lane-changing conflict coordination model for autonomous vehicles based on game theory

A technology of autonomous driving and game theory, applied in inference methods, geometric CAD, design optimization/simulation, etc., can solve problems such as coordination of related models without conflict of interest, and achieve the effect of ensuring fairness and solving potential safety hazards.

Active Publication Date: 2021-07-16
SOUTHWEST JIAOTONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, although there has been a lot of research on the lane-changing problem of autonomous driving vehicles, there is no relevant model for how to coordinate when there is a conflict of interest between the lane-changing vehicle LV and the vehicle behind the target lane RV during the lane-changing process of automatic driving.

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  • Establishment method of lane-changing conflict coordination model for autonomous vehicles based on game theory
  • Establishment method of lane-changing conflict coordination model for autonomous vehicles based on game theory
  • Establishment method of lane-changing conflict coordination model for autonomous vehicles based on game theory

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Experimental program
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Embodiment Construction

[0030] A game theory-based method for establishing a lane-changing conflict coordination model for autonomous vehicles, such as figure 1 , including the following:

[0031] 1. Lane changing game analysis

[0032] (1) Potential conflict points

[0033] The game between vehicles LV and RV when changing lanes is due to the spatial conflict between the two vehicles. like figure 2 As shown, the driving curve of the LV when changing lanes and the straight driving route of the RV will meet at a certain point on the target lane, and this point is defined as a potential conflict point between the two vehicles. Assuming that the LV changes lanes immediately after generating the lane-changing intention, while the RV moves forward at the current speed and the selected acceleration, the time difference between the two vehicles arriving at the potential conflict point is defined as the conflict time difference (TDTC, Time Difference to Collision) The smaller the value, the lower the sa...

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Abstract

The invention discloses a method for establishing a lane-changing conflict coordination model of an automatic driving vehicle based on game theory. First, the Nash equilibrium solution is obtained through the income matrix. a solution of . Then, judge whether the output solution is {changing lanes, avoiding} or {not changing lanes, not avoiding}, if so, the solution is the final strategy, if not, the strategy is improved to ensure that there is and only one party in the final solution makes a concession . Compared with the prior art, the positive effect of the present invention is: the present invention can avoid the decision-making disadvantage of maximizing the self-interest of the lane-changing vehicle, ensure the fairness of the driving opportunities of the two vehicles, and avoid possible The problem of accidents ensures the safety of the vehicle lane change process, effectively solves the safety hazards in the vehicle lane change process, and has the value of solving practical problems.

Description

technical field [0001] The invention relates to a method for establishing a lane-changing conflict coordination model of an automatic driving vehicle based on game theory. Background technique [0002] In recent years, research on autonomous vehicles has received more and more attention. Autonomous vehicles play an important role in solving problems such as traffic safety, traffic congestion, and exhaust pollution, and are considered to be the most disruptive technology in the future. one. As the basic algorithm in the decision-making and planning module of autonomous driving vehicles, the vehicle lane changing algorithm has a very important impact on the driving safety and driving efficiency of autonomous driving vehicles. How to ensure the safety and efficiency of autonomous vehicles during lane changing has become one of the key issues in autonomous driving research. [0003] During the lane-changing process of the self-driving vehicle, four vehicles are involved, inclu...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G06F30/15G06N5/04
CPCG06N5/042G06F30/15G06F30/20
Inventor 杨达杨果王凯文成
Owner SOUTHWEST JIAOTONG UNIV