吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (9): 3069-3078.doi: 10.13229/j.cnki.jdxbgxb.20250531

• 通信与控制工程 • 上一篇    

基于Level-K的智能驾驶汽车无信控交叉路口决策方法

李寿涛1,2(),贾湘怡1,2,朱军2,郭洪艳1,2(),于丁力3   

  1. 1.吉林大学 汽车底盘集成与仿生全国重点实验室，长春 130022
    2.吉林大学 通信工程学院，长春 130022
    3.利物浦约翰摩尔大学 工程与技术学院，利物浦 L33A
  • 收稿日期:2025-06-18 出版日期:2025-09-01 发布日期:2025-11-14
  • 通讯作者: 郭洪艳 E-mail:list@jlu.edu.cn;guohy11@jlu.edu.cn
  • 作者简介:李寿涛（1975-），男，教授，博士.研究方向：车辆动力学及仿真控制，智能机械与机器人控制技术.E-mail：list@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(62373163)

Uncontrolled intersections decision⁃making method for intelligent driving vehicles based on Level⁃K

Shou-tao LI1,2(),Xiang-yi JIA1,2,Jun ZHU2,Hong-yan GUO1,2(),Ding-li YU3   

  1. 1.National Key Laboratory of Automotive Chassis Integration and Bionics，Jilin University，Changchun 130022，China
    2.College of Communication Engineering，Jilin University，Changchun 130022，China
    3.School of Engineering and Technology，Liverpool John Moores University，Liverpool L33AF，UK
  • Received:2025-06-18 Online:2025-09-01 Published:2025-11-14
  • Contact: Hong-yan GUO E-mail:list@jlu.edu.cn;guohy11@jlu.edu.cn

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摘要：

为了使智能驾驶汽车安全、合理地通过无信控交叉路口，提出了一种基于Level-K博弈模型的序贯决策方法。首先，通过轨迹预测和车辆间的相关性分析，对车辆推理等级进行初始划分，在此基础上，将序贯优先级概念引入改进的Level-K博弈框架中，从而构建无信控交叉路口决策模型。其次，为减少车辆间不必要的交互、降低决策模型计算的复杂度，提出了一种博弈起止判别机制，对参与博弈的对象进行动态筛选。同时，为了保证决策的安全性，又提出了一种矩形车辆模型，对车辆的碰撞风险进行评估。最后，通过实验验证本文方法的有效性。结果表明，本文方法可以有效避免潜在碰撞风险，使智能驾驶汽车能够安全、合理地通过交叉路口。

关键词: 车辆工程, 智能驾驶汽车, 轨迹预测, 博弈理论, 无信控交叉路口

Abstract:

To ensure the safe and reasonable passage of intelligent driving vehicles through uncontrolled intersections， a sequential decision-making method based on the Level-K game model was proposed. Firstly， the initial classification of vehicle reasoning levels was conducted through trajectory prediction and correlation analysis among vehicles. On this basis， the concept of sequential priority was introduced into the improved Level-K game framework to construct decision-making model for uncontrolled intersections. Secondly， to reduce unnecessary interactions among vehicles and lower the computational complexity of the decision-making model， a game start and end discrimination mechanism was proposed to dynamically screen the objects participating in the game. Meanwhile， to ensure the safety of the decision-making， a rectangular vehicle model was proposed to assess the collision risk of vehicles. Finally， the effectiveness of the proposed method was verified through experiments. The results show that the interactive decision-making method proposed can effectively avoid potential collision risks and enable intelligent driving vehicles to pass through intersections safely and reasonably.

Key words: vehicle engineering, intelligent driving vehicles, trajectory prediction, game theory, uncontrolled intersection

中图分类号: 

  • TP273

图1

博弈决策架构图"

图2

交汇场景下车辆交互过程快照"

图3

交汇场景下车辆速度变化图"

图4

冲突场景下车辆交互过程快照"

图5

冲突场景下车辆速度变化图"

图6

多车密集场景下车辆交互过程快照"

图7

多车密集场景下车辆速度变化图"

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