The invention belongs to the technical field of lane changing decision making, and particularly relates to an evolutionary game decision making method for lane changing of an automatic driving vehicle, which comprises the following steps: in the process of changing the automatic driving vehicle from a current lane to a target lane, pre-judging a target vehicle of the automatic driving vehicle, collecting motion information of the automatic driving lane changing vehicle and the target vehicle in real time, and determining a game scene of lane changing of the automatic driving lane changing vehicle; defining an automatic driving lane changing vehicle and a target vehicle as decision subjects, and determining a strategy set of the automatic driving lane changing vehicle and the target vehicle and a strategy combination of game of the two; constructing an evolutionary game model of interactive decision of the automatic driving lane changing vehicle and the target vehicle; establishing a replication dynamic equation of the decision subject; and according to an optimization result obtained by the evolutionary game model, making a lane changing decision and executing the lane changing decision. According to the invention, the automatic driving vehicle can adjust the lane changing strategy in real time according to the traffic environment, so that the performance of the man-machine co-driving system is improved.
本发明属于换道决策技术领域,具体涉及一种自动驾驶车辆换道的演化博弈决策方法,步骤包括:在自动驾驶换道车辆从当前车道换道至目标车道的过程中,预判自动驾驶换道车辆的目标车辆,实时采集自动驾驶换道车辆和目标车辆的运动信息,确定自动驾驶换道车辆换道的博弈场景;定义自动驾驶换道车辆与目标车辆为决策主体,确定自动驾驶换道车辆和目标车辆的策略集以及两者博弈的策略组合;构建自动驾驶换道车辆与目标车辆互动决策的演化博弈模型;建立决策主体的复制动态方程;根据演化博弈模型得到的优化结果,制定换道决策并执行。本发明能够使自动驾驶车辆根据交通环境实时调整自身的换道策略,以便提高人机共驾系统的性能。
Evolutionary game decision-making method for lane changing of autonomous vehicle
一种自动驾驶车辆换道的演化博弈决策方法
2025-04-29
Patent
Electronic Resource
Chinese
IPC: | 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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