A Game Theory-Based Method for Predicting the Interactive Behavior of Surrounding Vehicles

A technology of surrounding vehicles and prediction methods, applied in the direction of complex mathematical operations, etc.

Active Publication Date: 2021-05-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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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  • A Game Theory-Based Method for Predicting the Interactive Behavior of Surrounding Vehicles
  • A Game Theory-Based Method for Predicting the Interactive Behavior of Surrounding Vehicles
  • A Game Theory-Based Method for Predicting the Interactive Behavior of Surrounding Vehicles

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Embodiment Construction

[0049] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention.

[0050] refer to figure 1 Shown, a kind of game theory-based surrounding vehicle interaction behavior prediction method of the present invention, comprises steps as follows:

[0051] 1) Real-time collection of the status information of the self-driving vehicle and the surrounding vehicles; the status information of all vehicles includes: the current vehicle position information, vehicle speed information and vehicle yaw angle information.

[0052] 2) Predict the future trajectory of the self-driving vehicle and surrounding vehicles through the state information collected above;

[0053] 21) Obtain the state information of the self-driving vehicle and surrounding vehicles at the current time ...

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Abstract

The invention discloses a method for predicting the interactive behavior of surrounding vehicles based on game theory. The method includes collecting the state information of the self-driving vehicle and the surrounding vehicles in real time; predicting the future trajectory of the self-driving vehicle and the surrounding vehicles; establishing a driving benefit evaluation function Calculate the income of the movement of the self-driving vehicle and the surrounding vehicles under different driving behaviors; use the method of game theory to model and analyze the interaction between the surrounding vehicles and the self-driving vehicle, and comprehensively consider the possible future movement of the surrounding vehicles and Its expected income under different interaction behaviors with self-driving vehicles is used to probabilistically predict the future interaction behavior of surrounding vehicles. The present invention fully considers the uncertainty of the trajectory brought about by the interaction between the autonomous vehicle and the surrounding vehicles, and predicts the possible future interaction behavior of the surrounding vehicles, so that the autonomous vehicle can make more decisions when planning. Safe and reliable.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/095G06F17/11G06F17/15
CPCB60W30/0956G06F17/11G06F17/15
Inventor 赵万忠匡登明冯健王春燕徐灿吴刚王安施帅朋蔡亦璋顾诚
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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