摘要
为了促进自动驾驶技术的发展,本文聚焦于自动驾驶车辆换道决策行为。首先对换道意图进行客观性量化,然后引入换道碰撞概率与换道动态风险系数,并基于博弈论思想建立自动驾驶车辆换道博弈决策行为模型,选取速度收益作为博弈收益的考量目标,使得自动驾驶车辆进行协作、安全、合理的换道。最后,使用SUMO软件将传统LC2013换道模型与换道博弈决策行为模型进行仿真实验和对比分析,结果表明换道博弈决策行为模型具有更高的稳定性、可靠性、安全性以及车道利用率。
In order to promote the development of autonomous driving technology,this paper focuses on the lane-changing decision-making behavior of autonomous vehicles.First,the lane-changing intention is quantified objectively,and then the lane-changing collision probability and the lane-changing dynamic risky coefficient are introduced.Based on the game theory,the decision-making behavior model of the lane-changing game for autonomous vehicles is established.Besides,speed gains are considered as the objective of game gains.Therefore,autonomous vehicles can change lanes in a coordinated,safe and reasonable manner.Finally,with SUMO software,the traditional LC2013 lane-changing model and the decision-making behavior model of the lane-changing game are used for simulation experiments and comparative analysis.The results show that the decision-making behavior model of the lane-changing game has higher stability,reliability,safety and lane utilization.
作者
张可琨
曲大义
宋慧
戴守晨
ZHANG Kekun;QU Dayi;SONG Hui;DAI Shouchen(School of Mechanical and Antomotive Engineering,Qingdao University of Technology,Qingdao 266520,China)
出处
《复杂系统与复杂性科学》
CAS
CSCD
北大核心
2023年第2期60-67,共8页
Complex Systems and Complexity Science
基金
国家自然科学基金(51678320)
山东省重点研发计划(2019GGX101038)。
关键词
自动驾驶
换道行为
决策方法
博弈策略
autonomous driving
lane-changing behavior
decision-making method
game strategy
