基于轨迹数据的车辆博弈切出及汇入行为建模

doi:10.13229/j.cnki.jdxbgxb.20231360

摘要/Abstract

摘要：

为提高网联自主车辆换道汇入的效率和安全性，刻画车辆换道行为的博弈交互过程。采用德国ExiD高精轨迹数据集，深入分析车辆换道汇入的动态交互博弈特性，从博弈决策和代价成本视角解析并定义轨迹数据中主线车辆的换道切出行为。在面对匝道车辆存在明确的汇入意图时，部分主线车辆为降低行驶效率代价选择加速向内侧换道切出且同时为匝道车辆提供汇入间隙。当车辆速度越高时主线车辆越倾向于换道切出降低损失，基于轨迹数据的车辆博弈切出及汇入模型能够刻画车辆博弈决策过程并有效缩短换道汇入距离，换道汇入距离平均缩短11.51 m，车辆碰撞风险时间平均提高6.77 s。

关键词: 交通运输规划与管理, 网联自主车辆, 换道行为, 博弈交互特性, 轨迹数据

Abstract:

To improve the efficiency and safety of lane-changing merging of connected autonomous Vehicles， the game interaction process of vehicle lane-changing behavior is portrayed. The German ExiD high-precision trajectory dataset is used to deeply analyze the dynamic interactive game characteristics of vehicle lane changing and merging， and the lane-changing cut-out behavior of mainline vehicles in trajectory data is analyzed and defined from the perspectives of game decision-making and cost. When facing the ramp vehicles with clear intention to merge， part of the mainline vehicles choose to accelerate to the inside to change lanes to cut out and at the same time to provide a gap for the ramp vehicles to merge to reduce the cost of driving efficiency. When the vehicle speed is higher， the mainline vehicle tends to change lane and cut out to reduce the loss. The vehicle game cut-out and merge model based on trajectory data can portray the vehicle game decision-making process and effectively shorten the distance of changing lane and merging， the average reduction of the distance of changing lane and merging is 11.51 m， and the average improvement of vehicle collision time is 6.77 s.

Key words: transportation planning and management, connected autonomous vehicles, lane-changing behavior, game interaction properties, trajectory data

中图分类号:

U491.2

曲大义,戴守晨,陈意成,崔善柠,杨宇翔. 基于轨迹数据的车辆博弈切出及汇入行为建模[J]. 吉林大学学报(工学版), 2025, 55(10): 3208-3220.

Da-yi QU,Shou-chen DAI,Yi-cheng CHEN,Shan-ning CUI,Yu-xiang YANG. Modeling of vehicle game cut-out and merging behavior based on trajectory data[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(10): 3208-3220.

图/表 17

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表2

参数标定结果"

符号	符号含义	取值
$a m a x$	最大加速度 $/ (m ? s - 2$ ）	3.15
$d c o m f$	舒适减速度 $/ (m ? s - 2)$	1.42
$t h w$	期望车头时距 $/ s$	3.09
$d m i n$	最小停车间距 $/ m$	7.47
$L c a r$	车身长度 $/ m$	4.70
$k p$	车间距系数	0.45
$k d$	车间距变化系数	0.25

表2

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交互类型	主线车辆应对策略	匝道车辆交互过程	交互行为结果
减速让行	协作式减速让行	待主线车辆减速让行后换道汇入	主线后车减速让行，匝道车辆换道汇入
后侧切出	减少速度代价损失的同时协助匝道车辆汇入	待主线后车换道切出后再次判断汇入条件进行换道汇入	主线后车加速切出，匝道车辆加速汇入
前侧切出	减少速度代价损失的同时协助匝道车辆汇入	汇入车辆减速适配汇入间隙，待主线车辆前侧切出后紧随汇入	主线前车加速切出，匝道车辆先减速后加速汇入