摘要
超车行为由于其复杂性给交通安全带来较大的隐患,而自动驾驶车辆超车决策规划可为安全超车提供重要保障。针对现有换道超车决策算法所考虑的周围车辆环境较为简单的问题,本文通过在超车决策规划算法中综合考虑被超车辆和对向来车对于超车行为的影响,建立基于Stackelberg博弈的混合驾驶环境下双车道公路自主超车决策规划模型。随后在Matlab/Simulink中搭建仿真模型,对模型有效性进行验证。结果表明,本文设计的超车决策规划模型在不同的周围车辆环境中均具有较好的适应性,能够保证自动驾驶车辆在混合驾驶环境下完成安全有效的超车行为。
Overtaking behavior brings great hidden danger to traffic safety because of its complexity,and the overtaking decision planning of autonomous vehicles can provide important guarantee for safe overtaking.In view of the relatively simple surrounding vehicle environment considered by the existing lane changing and overtaking decision algorithm,this paper comprehensively considers the influence of the overtaken vehicle and the opposite vehicle on the overtaking behavior in the overtaking decision planning algorithm,and establishes an autonomous overtaking decision planning model for two-lane highway under mixed driving environment based on Stackelberg game.Then the simulation model is built in Matlab/Simulink to verify the effectiveness of the model.The results show that the overtaking decision planning model designed in this paper has good adaptability in different surrounding vehicle environments,and can ensure the safe and effective overtaking behavior of autonomous vehicles in the mixed driving environment.
作者
李巧宜
LI Qiaoyi(School of Transportation and Logistics,Southwest Jiaotong University,Chengdu 611756,China)
出处
《综合运输》
2022年第12期51-57,76,共8页
China Transportation Review
