Abstract：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.
张可琨, 曲大义, 宋慧, 戴守晨. 自动驾驶车辆换道博弈策略分析及建模[J]. 复杂系统与复杂性科学, 2023, 20(2): 60-67.
ZHANG Kekun, QU Dayi, SONG Hui, DAI Shouchen. Analysis and Modeling for Lane-changing Game Strategy of Autonomous Vehicles. Complex Systems and Complexity Science, 2023, 20(2): 60-67.
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