基于博弈论的城市道路变道切入行为模型

doi:10.13229/j.cnki.jdxbgxb20210404

Abstract

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

CLC Number:

U491

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.

Figures/Tables 5

Fig.1

Table 1

Table 2

Table 3

Table 4

Part of calibrating data"

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

Table 4

References 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	-

Cut⁃in behavior model based on game theoretic approach on urban roads

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