基于微分对策理论的两车碰撞问题  

Collision problem of two cars based on differential game theory

作　　者：原鑫[1,2] 李擎[1,2] 苏中 

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]高动态导航技术北京市重点实验室,北京100101

出　　处：《北京信息科技大学学报（自然科学版）》2016年第5期68-72,共5页Journal of Beijing Information Science and Technology University

基　　金：国家自然科学基金资助项目(61261160497;61471046);高动态导航技术北京市重点实验室开放课题

摘　　要：对2辆自主无人车碰撞问题的定性微分对策进行了研究,建立了碰撞问题的数学模型,用微分对策的方法推导出追逃双方为了达到各自目的所应采取的最优控制策略,证明了完成捕获的充分条件,并且通过计算界栅确定了对策状态空间的捕获区和躲避区,说明了微分对策方法在处理两车碰撞问题上的有效性。所涉及的内容还可应用于火力分配、劳资谈判、资源与污染等领域。Qualitative differential game of collision problem of two unmanned autonomous cars is studied. The mathematical model of collision problem is established,and the differential game method is adopted to derive the optimal control strategy of both sides in pursuit-evasion game in order to achieve their aims. The sufficient condition for the capture is proved. The region leads to capture and the region leads to evasion in game space are confirmed though calculating the barrier. The efficiency of the differential game method in dealing with the two-car collision problem is indicated. The results can also be used in the field of fire distribution,labor management negotiations,resources and pollution,etc.

关 键 词：碰撞问题 微分对策 界栅 捕获 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]