自动驾驶车辆换道决策行为分析及分子动力学建模

doi:10.13229/j.cnki.jdxbgxb.20220465

摘要/Abstract

摘要：

针对自动驾驶车辆的换道决策行为，首先基于分子动力学理论研究了车辆的微观换道行为，在对换道意图进行客观性量化的基础上，进一步引入车辆间的相互作用势建立了换道决策行为的分子动力学模型。然后，系统分析了车辆换道初始时刻与换道完成时刻的关系以及车辆换道的动态影响因素，探究了微观车辆的换道行为对宏观车流的影响。最后，使用SUMO软件将SL2015换道模型与分子动力学换道模型进行仿真对比分析。结果表明，分子动力学换道模型具有较好的安全性、稳定性和实用性；本文自动驾驶车辆换道决策行为的分子动力学建模综合考虑了交通场景中的动态影响因素，能够更客观、合理地展现自动驾驶车辆的换道行为特性。

关键词: 交通运输系统工程, 交通系统模型, 自动驾驶车辆, 分子动力学, 换道决策行为, 相互作用势

Abstract:

Focusing on the lane-changing decision-making behavior of autonomous vehicles， the microscopic lane-changing behavior of vehicles was studied based on the molecular dynamics theory. On the basis of objectively quantifying the intention to change lanes, a molecular dynamics model of lane changing decision-making behavior was further established by introducing the interaction potential between vehicles. Then， the relationship between the initial moment of lane-changing and the completion moment of lane-changing， as well as the dynamic influencing factors of lane-changing were systematically analyzed. The impact of microscopic lane-changing behavior on macroscopic traffic flow was explored. Finally， with SUMO software， the SL2015 lane-changing model and the molecular dynamics lane-changing model were used for simulation experiments and comparative analysis. The results show that the molecular dynamics lane-changing model has good safety， stability and practicability. The molecular dynamics modeling of lane-changing decision-making behavior for autonomous vehicles comprehensively considers the dynamic influencing factors in the traffic scene， which can more objectively and reasonably demonstrate the lane changing behavior characteristics of autonomous vehicles.

Key words: engineering of communications and transportation system, traffic system model, autonomous vehicles, molecular dynamics, lane-changing decision-making behavior, interaction potential

中图分类号:

U491.2

曲大义,张可琨,顾原,王韬,宋慧,戴守晨. 自动驾驶车辆换道决策行为分析及分子动力学建模[J]. 吉林大学学报(工学版), 2024, 54(3): 700-710.

Da-yi QU,Ke-kun ZHANG,Yuan GU,Tao WANG,Hui SONG,Shou-chen DAI. Analysis of lane⁃changing decision⁃making behavior and molecular dynamics modeling for autonomous vehicles[J]. Journal of Jilin University(Engineering and Technology Edition), 2024, 54(3): 700-710.

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