Intelligent vehicle lane changing decision-making method based on incomplete information game

Abstract

The invention discloses an intelligent vehicle lane changing decision-making method based on an incomplete information game, and the method comprises the steps: carrying out the modeling of the lane changing intention and lane changing feasibility of an intelligent vehicle in time and space; establishing a revenue matrix according to the state information of the lane changing vehicle and the surrounding vehicles; solving the revenue matrix by adopting Pareto optimum and Nash equilibrium in the game theory; in order to solve the problem that behavior information of an incomplete information non-cooperative dynamic game is unknown, a lane changing vehicle carries out longitudinal behavior prediction of speed and acceleration on vehicles with game conflicts, and an NARX neural network model is adopted; and the vehicles around the lane changing vehicle predict the transverse movement of the lane changing vehicle through a continuous hidden Markov model. And the game participant corrects the decision of the income matrix by predicting the future behavior trend of other vehicles, and the decision is executed when the decision reaches an execution threshold.

Description

technical field [0001] The invention relates to the field of intelligent driving, in particular to an intelligent vehicle lane change decision method based on incomplete information game. Background technique [0002] In order to liberate people from a large amount of driving time and complicated traffic, improve the traffic rate of vehicles, and reduce the occurrence of accidents, the research on smart cars is gradually deepening. It aims to design an intelligent control driving system to replace human-driven cars in traffic environments and solve complex vehicle driving decision-making, planning and control problems. A smart car usually includes a main control module, a decision-making and planning module, an environment perception module and a vehicle control module, among which the decision-making and planning module is particularly important as the core module of a smart car. [0003] As one of the core behavioral decisions of vehicles, the lane-changing decision plays...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems existing in the above-mentioned prior art, the present invention proposes an intelligent vehicle lane change decision method based on incomplete information game, aiming at introducing incomplete information non-cooperative dynamic game to make lane change decision. Interactivity in the communication situation and improving the reliability and efficiency of lane changing. For different vehicles, horizontal and vertical predictions are used to make up for the problem of non-communication of information, and the prediction results are used to correct decisions, improve the reliability of decisions, and shorten process, which not only ensures the interactivity of information in the case of non-communication, but also uses prediction to improve the reliability of decision-making

Images