基于博弈论的城市道路变道切入行为模型

doi:10.13229/j.cnki.jdxbgxb20210404

摘要/Abstract

摘要：

为解决城市道路变道切入行为带来的交通安全和道路拥堵问题，研究了变道切入行为在城市道路中的决策模型。在考虑安全收益、速度收益和变道收益的基础上，量化博弈双方的收益，并结合驾驶人变道意图给出变道切入行为中变道车和目标车道后车的收益函数，构建非合作博弈模型并求纳什均衡解；对模型中的收益参数进行标定，使用NGSIM数据进行模型校对。研究结果表明：模型对于城市道路变道车和邻后车的决策行为具有良好的拟合度，强制性变道切入行为中变道车和邻后车决策行为变量的RMSE分别为0.1385和0.4361，自由性变道切入行为中RMSE分别为0.2278和0.1748；在博弈行为中，安全收益比换道收益对变道车驾驶人的决策影响更大，其中自由性变道切入行为中更加明显；而速度收益始终比安全收益对邻后车驾驶人的决策影响更大，收益权重为0.9和0.1。

关键词: 交通运输系统工程, 变道模型, 混合策略博弈, 变道切入行为

Abstract:

In order to solve the problem of traffic safety and traffic congestion caused by cut-in behavior on urban roads， the decision model of cut-in behavior was proposed in the traditional environment and network environment. Considering the safety gain， speed gain and lane-changing gain， the benefits of both parties in the game were quantified， and the benefit function of lane-changing vehicle and lag vehicle in cut-in behavior was given to obtain a game model and the Nash equilibrium solution in view of the driver's intention to change lanes. The model was calibrated and tested using NGSIM data. The results show that the model has a good fitting degree for the decision behavior of lane change vehicles and lag vehicles on urban roads. RMSE of the decision behavior variables of lane-changing vehicles and lag vehicles are 0.1385 and 0.4361 for mandatory lane change cut-in behavior， and 0.2278 and 0.1748 for discretionary cut-in behavior， respectively.In the game behavior， the safety gain has a greater influence on the driver's decision than the lane-changing gain， and the discretionary behavior is more obvious.However， the speed gain always has a greater influence on the decision-making of the drivers behind than the safety gain， and the gain weight is 0.9 and 0.1.

Key words: engineering of communications and transportation system, lane-changing model, quantal response equilibrium, cut-in behavior

中图分类号:

U491

程国柱,孙秋月,刘玥波,陈纪龙. 基于博弈论的城市道路变道切入行为模型[J]. 吉林大学学报(工学版), 2022, 52(12): 2839-2844.

Guo-zhu CHENG,Qiu-yue SUN,Yue-bo LIU,Ji-long CHEN. Cut⁃in behavior model based on game theoretic approach on urban roads[J]. Journal of Jilin University(Engineering and Technology Edition), 2022, 52(12): 2839-2844.

图/表 5

图1

表1

表2

表3

表4

部分标定数据"

Following_ID	Vehicle_ID	Frame_ ID	$Δ s$	$Δ l$	$Δ v$
117	120	539	39.102	594.661	3.12
156	152	828	28.179	322.39	2.71
160	156	848	41.897	314.32	7.23
239	215	1772	46.05	309.347	2.82
297	293	1932	30.855	537.268	3.48
300	299	1838	32.213	989.85	3.47
303	305	1981	33.838	503.144	4.66
1425	308	1893	21.209	997.091	0.32
326	324	2079	41.748	741.483	2.88

表4

参考文献 15

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字段	说明	取值
Vehicle_ID	车辆编号	-
Frame_ID	时间帧号	0.1 s
Local_X	坐标X值	Feet
Local_Y	坐标Y值	Feet
v_Class	车辆类型	1-摩托车；2-小型车；3-大型车
v_Vel	车辆速度	Feet/s
Lane_ID	车道编号	-
Section_ID	路段编号	-
Movement	车辆动作	1-通过；2-左转；3-右转
O_Zone	起点路段编号	-
D_Zone	终点路段编号	-
Preceding	跟驰前车	-
Following	跟驰后车	-