The invention provides a vehicle overtaking decision-making method based on a Level-k game algorithm, and the method comprises the steps: firstly, considering the uncertainty of the actual behavior of a vehicle, and building a dynamic model containing the uncertainty of the mass center position of the vehicle, and a prediction model; secondly, designing a state set, an action set and a reward function of the vehicle to describe the overtaking situation of the vehicle on the urban road; then, the overtaking problem of the vehicles on the urban road is constructed based on a Level-k game framework between the vehicles; and finally, on the basis of a Level-k game algorithm framework, obtaining an optimal overtaking action sequence of the vehicle from the vehicle action set based on a Q-Learning algorithm in reinforcement learning, and ensuring that the main vehicle makes an overtaking decision in time.
本发明提供了一种基于Level‑k博弈算法的车辆超车决策方法,首先,该方法考虑车辆实际行为的不确定性,建立了含有车辆质心位置不确定性的动力学模型及预测模型;其次,设计车辆的状态集合、动作集合及奖励函数来描述车辆在城市道路上的超车情形;然后,基于车辆之间的Level‑k博弈框架来构建车辆在城市道路上的超车问题;最后,在Level‑k博弈算法框架的基础上,基于强化学习中的Q‑Learning算法从车辆动作集合中得到车辆最优超车动作序列,保证主车及时进行超车决策。
Urban road overtaking decision-making method based on Level-k game algorithm
一种基于Level-k博弈算法的城市道路超车决策方法
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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