无信号控制交通场景的人车博弈行为分析及决策建模  

Analysis of human-vehicle game behavior and decision modeling for signal-free controlled traffic scenarios

作　　者：李海洋 曲大义 杨子奕 陈意成 邵德栋 LI Haiyang;QU Dayi;YANG Ziyi;CHEN Yicheng;SHAO Dedong(School of Mechanical&Automotive Engineering,Qingdao University of Technology,Qingdao 266525,China;School of Civil Engineering,Qingdao University of Technology,Qingdao 266525,China)

机构地区：[1]青岛理工大学机械与汽车工程学院,青岛266525 [2]青岛理工大学土木工程学院,青岛266525

出　　处：《青岛理工大学学报》2023年第5期138-149,共12页Journal of Qingdao University of Technology

基　　金：国家自然科学基金资助项目(52272311)。

摘　　要：无信号控制场景下,行人过街过程中存在人-车冲突,分析人-车冲突的决策过程和决策影响因素对于揭示人-车冲突机理具有重要意义。基于博弈论,综合考虑延误、风险、行人紧张程度、行人等待时间、行人和车辆驾驶人风格等影响人-车博弈决策的多种因素,合理确定了支付效用函数以及支付效用初始值,并根据人-车博弈过程构建了混合策略、“行人先行”“车辆先行”3类博弈模型。博弈模型描述了行人和车辆之间的决策行为过程,通过分析纳什均衡和不同情况下博弈双方收益,得到了收益区间与策略选择的关系,得出了行人和车辆在不同情况下的占优策略和策略选择情况。研究结果表明:不同风格的行人和车辆驾驶人,在不同阶段、不同行动顺序下决策收益不同,占优策略存在差异。Under the no-signal control scenario,pedestrian-vehicle conflict exists in the process of pedestrian crossing street,and it is important to analyze the decision process and decision influencing factors of pedestrians and vehicles to reveal the mechanism of the conflict.Based on the game theory,a variety of factors affecting the human-vehicle game decision,such as delay,risk,pedestrian tension,pedestrian waiting time,pedestrian and vehicle driver style,etc.,are considered,the payment utility function and the initial value of payment utility are reasonably determined,and three types of game models,namely,mixed strategy,“pedestrian first”and“vehicle first”,are constructed according to the human-vehicle game process.The game model describes the decision-making process between pedestrians and vehicles,and by analyzing the Nash equilibrium and the gains of both sides of the game in different situations,the relationship between the gain interval and the strategy choice is obtained,and the dominant strategy and strategy choice of pedestrians and vehicles in different situations are derived.The results of the study show that pedestrians and vehicle drivers with different styles have different decision gains at different stages and in different action sequences,and their dominant strategies are different as well.

关 键 词：无信号控制 行人过街 人车博弈 序贯博弈 交通安全 

分 类 号：U491.2[交通运输工程—交通运输规划与管理]