Intelligent vehicle cooperative lane changing decision-making model under road section mixed driving condition

Abstract

The invention discloses an intelligent vehicle cooperative lane changing model under a road section mixed driving condition. According to the intelligent vehicle cooperative lane changing model, a vehicle lane changing interaction relationship judgment model is established and based on a fuzzy logic method so as to analyze a vehicle-vehicle interaction behavior under the mixed driving condition; acooperative lane changing game model of manned and unmanned vehicles is established; and a variable cooperation coefficient is introduced to establish a cooperative lane changing game model of the manned vehicle and the unmanned vehicle, and Nash equilibrium solution is carried out on the game model by adopting a Lemke-Howson algorithm to obtain an optimal strategy combination for judging whetherthe vehicle changes the lane or not. Because of establishment of the cooperative lane changing game model of the manned vehicle and the unmanned vehicle, the traffic flow operation efficiency can beeffectively improved, the driving experience of passengers can be greatly improved, and a positive effect on traffic safety is achieved.

Description

technical field [0001] The invention belongs to the technical field of intelligent traffic system and intelligent vehicle research, relates to the classification of driving interaction behaviors, and uses a fuzzy logic method to establish a vehicle lane-changing interaction relationship judgment model. Background technique [0002] The development of unmanned driving technology has become a global consensus. It has great potential in solving traffic safety and traffic congestion. In my country, policies related to the Internet of Vehicles and unmanned driving have been introduced one after another. Further development and application of collaborative decision-making and control, conditional automatic driving and fully automatic driving. [0003] Although great progress has been made in the technology research of unmanned vehicles, low-speed driving in limited areas of urban roads and autonomous driving in simple highway environments have been achieved, but the application of ...

AI Technical Summary

Problems solved by technology

It can be seen that the automatic driving function is not mature, and its decision-making control system still has potential safety hazards

[0004] In addition, in the U.S. DARPA Urban Challenge, "China Intelligent Vehicle Future Challenge Competition (IVFC)", "China Intelligent Vehicle Competition (CIVC)", and "World Intelligent Driving Challenge (WIDC)", when faced with interference from manned vehicles, Most of the participating cars adopt conservative driving behaviors such as slowing down or waiting to avoid conflicts, and do not consider the impact of dynamic interaction behaviors of other vehicles, ignoring the differential impact of interaction behaviors of different types of drivers, which will greatly limit the traffic potential of unmanned vehicles

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