Game theory-based surrounding vehicle interaction behavior prediction method

Abstract

The invention discloses a game theory-based surrounding vehicle interaction behavior prediction method. The method comprises: collecting state information of an automatic driving vehicle and surrounding vehicles in real time; predicting future motion trails of the automatic driving vehicle and surrounding vehicles; establishing a driving profit evaluation function to perform profit calculation onthe movement of the automatic driving vehicle and the surrounding vehicles under different driving behaviors; through a game theory method, carrying out modeling analysis on interaction behaviors of surrounding vehicles and automatic driving vehicles, and carrying out probability prediction on the future interaction behaviors of the surrounding vehicles by comprehensively considering future possible movement conditions of the surrounding vehicles and expected revenue under different interaction behaviors of the surrounding vehicles and the automatic driving vehicles. According to the method, the uncertainty of the motion trail caused by the interaction behavior between the automatic driving vehicle and the surrounding vehicles is fully considered, and the possible interaction behavior of the surrounding vehicles in the future is predicted, so that the automatic driving vehicle is safer and more reliable during decision planning.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a method for predicting the interactive behavior of surrounding vehicles based on game theory. Background technique [0002] Autonomous driving technology has the advantages of significantly improving traffic safety and reducing traffic congestion, which has attracted more and more attention. Autonomous driving technology usually mainly includes three parts: environment perception, decision-making planning and control execution. Vehicle decision-making planning is one of the key technologies to measure the intelligence level of vehicles. The development of intelligent decision-making technology can improve the ability of vehicles to deal with complex traffic scenarios. [0003] The decision planning of the vehicle mainly includes two parts: on the one hand, the self-driving vehicle needs to predict the movement of the surrounding environment before making a ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the object of the present invention is to provide a method for predicting the interactive behavior of surrounding vehicles based on game theory, so as to solve the problem of rarely interacting with surrounding vehicles in the prior art for predicting the driving behavior of surrounding vehicles. The problem of making predictions

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