基于信号博弈的智能车换道决策模型研究  

Research on Intelligent Vehicle Lane Changing Decision Model Based on Signal Game Theory

作　　者：张倩 盛路 杨奕 类彦龙 ZHANG Qian;SHENG Lu;YANG Yi;LEI Yanlong(Shandong Dongtai Design Consulting Co.,Ltd.,Zibo Shandong 256410,China;Changshu Transportation Bureau,Suzhou Jiangsu 215500,China;Harbin Institute of Technology(Weihai),Weihai Shandong 264200,China)

机构地区：[1]山东东泰设计咨询有限公司,山东淄博256410 [2]常熟市交通运输局,江苏苏州215500 [3]哈尔滨工业大学(威海),山东威海264200

出　　处：《交通节能与环保》2024年第5期65-69,共5页Transport Energy Conservation & Environmental Protection

基　　金：山东省自然科学基金(ZR2020MG020)。

摘　　要：为了充分利用智能车获取的实时信息,实现安全、高效地换道,本文考虑驾驶员异质性的影响,建立了基于信号博弈原理的智能车换道决策模型。首先,利用急动度比例划分驾驶员心理类型;其次,分析换道博弈原理,构建车辆换道决策模型;然后,验证车辆换道决策模型的有效性;最后,设计混行环境下车辆换道仿真实验,验证模型实用性。研究表明:本文所构建的换道决策模型可有效用于智能车轨迹规划,为无人驾驶提供理论基础。In order to make full use of the real-time information obtained by intelligent vehicles and realize safe and efficient lane changing,a decision model of intelligent vehicle lane changing based on signal game principle was established by considering the influence of vehicle status and driver heterogeneity.Firstly,the psychological types of drivers were classified based on the ratio of urgency.Secondly,the principle of lane changing game was analyzed,and a decision model for vehicle lane changing was built.Thirdly,the effectiveness of the decision model for vehicle lane changing was verified.Finally,a lane changing simulation experiment for vehicles in a mixed driving environment was designed to verify the practicality of the model.The research shows that the lane change decision model constructed in this paper can be effectively used for intelligent vehicle trajectory planning,providing a theoretical basis for unmanned driving.

关 键 词：交通工程 车辆换道决策 信号博弈 智能车 

分 类 号：U491[交通运输工程—交通运输规划与管理]