Game theory has been extensively studied in recent years for its potential benefits on solving interactions between autonomous vehicles in platoon control. In this article, we propose two behavioral decision-making approach based on non-cooperative game theory with both the complete information and incomplete information for cooperative vehicle platoon systems. The non-cooperative game payoff function takes the platooning performances of economy, comfort, safety, and further achieving self-driving functions into consideration. For the driving situations with incomplete information, a belief pool is constructed to represent the action probability for different behavioral types of vehicles, which will be updated by combining the driving intention identification with a Bayesian probability formula. With this, the stable strategies can be obtained for the two potentially conflicting parties, ensuring that neither of them has a motivation to change their driving behavior. Finally, the simulation results demonstrate that with the proposed behavioral decision-making approaches with complete information, the cooperative platoon performance can be markedly improved; with incomplete information, the platoon can determine the behavioral types of conflicting vehicles and complete collaborative decision-making approaches for solving not only the simple road-rights conflicting problems, but also for the extended vehicle platoon driving scenarios in a more complex transportation system.
Behavioral Decision-Making Approach for Vehicle Platoon Control: Two Noncooperative Game Models
IEEE Transactions on Transportation Electrification ; 9 , 3 ; 4626-4638
2023-09-01
1744976 byte
Article (Journal)
Electronic Resource
English
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