高速公路事故路段智能网联车辆博弈换道模型  

An Intelligent Networked Vehicle Lane Changing Model based on Game Theory in Highway Accident Section

作　　者：梁晨曦 郝孜奇 王川 高立勇 刘少林 陈元培 LIANG Chen-xi;HAO Zi-qi;WANG Chuan;GAO Li-yong;LIU Shao-lin;CHEN Yuan-pei(Hebei Sinopack Electronic Technology Co.Ltd.,Shijiazhuang 050299,China;JSTI Group,Nanjing 210019,China;Shandong Hi-speed Infrastructure Construction Co.Ltd.,Jinan 250101,China;Shandong Provincial Communications Planning and Design Institute Group Co.Ltd.,Jinan 250101,China)

机构地区：[1]河北中瓷电子科技股份有限公司,石家庄市050299 [2]苏交科集团股份有限公司,南京市210019 [3]山东高速集团有限公司,济南市250101 [4]山东省交通规划设计院集团有限公司,济南市250101

出　　处：《公路》2024年第6期197-203,共7页Highway

基　　金：2020年度交通运输行业重点科技项目,项目编号2020-MS5-137;2020年度山东省重点研发计划,项目编号重大科技创新工程2020CXGC010101;2022年度山东省交通规划设计院集团有限公司科技计划,项目编号KJ-2022-SJYJT-22。

摘　　要：智能网联车辆在面临高速公路发生事故的复杂交通场景时,事故点上游的车辆需采取合适的换道措施来保证车辆的安全通行,此过程将同目标车道的车辆产生博弈。基于博弈论构建了智能网联车辆的换道模型:对事故路段车辆的换道决策博弈行为进行了分析,将车辆的速度收益和安全收益作为博弈策略效果的评价指标,建立事故路段智能网联车辆的换道模型收益矩阵。最后,基于NGSIM数据集使用SUMO软件对换道模型进行了仿真验证。通过比较实验时间内仿真路段的通过车辆数、平均通过时间和事故车道的车辆平均换道时间,博弈换道模型的整体表现均优于传统的元胞自动机模型及经典LC2013换道模型,尤其是在面对较高的车流密度时优势更为明显。实验表明基于博弈论的智能网联换道模型在面对高速公路事故路段的换道场景时具有较好的适用性。When intelligent networked vehicles face complex traffic scenarios where accidents occur on highways,vehicles upstream of the accident point need to change lanes,which will play a game with lagging vehicles in the target lane.Based on game theory,the lane change model of intelligent networked vehicles is constructed:the lane changing model revenue matrix of intelligent networked vehicles in accident sections is established,the speed gain and safety benefits of vehicles are used as the evaluation indicators of the effect of game strategy,and the lane change decision game behavior of vehicles in accident road sections is analyzed.Finally,based on the NGSIM dataset,the lane change model is verified by using SUMO software.By comparing the number of passing vehicles,average passing time and average lane change time of vehicles in the accident lane of the simulated road section during the experimental time,the overall performance of the game lane change model is better than the traditional cellular automata model and the classic LC2013 lane change model,especially in the face of high traffic density.Experiments show that the intelligent networked lane changing model based on game theory has good applicability in the lane change scenarios on highway accident sections.

关 键 词：交通事故 智能网联车辆 博弈论 换道模型 高速公路 

分 类 号：U491.112[交通运输工程—交通运输规划与管理] U495[交通运输工程—道路与铁道工程]