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.
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