Intelligent Vehicle Lane-Changing Strategy through Polynomial and Game Theory  

作　　者：Buwei Dang Huanming Chen Heng Zhang Jixian Wang Jian Zhou 

机构地区：[1]College of Mechanical and Electrical Engineering,Qingdao University,Qingdao,266071,China

出　　处：《Computers, Materials & Continua》2025年第5期2003-2023,共21页计算机、材料和连续体(英文)

基　　金：supported by the Science and Technology Program of Shandong Higher Education Institutions(Grant J18KA048).

摘　　要：This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments.A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system.These trajectories are evaluated using non-cooperative game theory,considering the interaction between the target vehicle and its surroundings.Models considering safety payoffs,speed payoffs,comfort payoffs,and aggressiveness are formulated to obtain a Nash equilibrium solution.This way,collision avoidance is ensured,and an optimal lane change trajectory is planned.Three game scenarios are discussed,and the optimal trajectories obtained are compared using the NGSIM dataset.Comparison of trajectory tracking effects by themodel predictive control(MPC)and linear quadratic regulator(LQR).Finally,the left lane change,right lane change,and abort lane change operations are verified in the autonomous driving simulation platform.Simulation and experimental results show that the strategy can plan appropriate lane change trajectory and accomplish tracking in complex environments.

关 键 词：Lane-changing strategy trajectory planning game theory tracking control automated driving 

分 类 号：U463.6[机械工程—车辆工程]