车联网环境下车辆换道博弈行为及模型

doi:10.13229/j.cnki.jdxbgxb20200796

Abstract

Abstract:

In the vehicle network environment， the traffic system will present the mixed coexistence of intelligent connected vehicles and traditional artificially driven vehicles for a long time. Focusing on the new mixed traffic flow in the intelligent connected traffic environment， the decision-making model of vehicle lane change behavior was established. The dynamic risk model during lane-changing is introduced to establish the interaction between autonomous vehicles and traditional vehicles in the mixed traffic flow. The lane-changing behavior of autonomous vehicles in mixed traffic flow is modelled based on game theory. Lane-changing behavior between autonomous vehicles is the nature of the non-cooperative game. Vehicles seek for a lane with better driving conditions by taking their own driving state as the game benefit. The simulation results show that the game lane-changing model has higher lane utilization and safety stability than the traditional gap threshold acceptance model.

Key words: traffic engineering, lane-changing behavior, game theory, SUMO software, dynamic risk model

CLC Number:

U491.2

Da-yi QU,Kai-xian HEI,Hai-bing GUO,Yan-feng JIA,Tao WANG. Game behavior and model of lane-changing on the internet of vehicles environment[J].Journal of Jilin University(Engineering and Technology Edition), 2022, 52(1): 101-109.

Figures/Tables 19

Fig.1

Table 1

Payoff matrix"

		参与者2
		$t 1$	$t 2$
参与者1	$r 1$	$u 1 r 1, t 1$ ， $u 2 r 1, t 1$	$u 1 r 1, t 2$ ， $u 2 r 1, t 2$
参与者1	$r 2$	$u 1 r 2, t 1$ ， $u 2 r 2, t 1$	$u 1 r 2, t 2$ ， $u 2 r 2, t 2$

Table 1

Table 2

Mix strategy payoff matrix"

		参与者2		概
		$c 1$	$c 2$	率
参与者1	$s 1$	$u 1 s 1, c 1$ ， $u 2 s 1, c 1$	$u 1 s 1, c 2$ ， $u 2 s 1, c 2$	$p$
参与者1	$s 2$	$u 1 s 2, c 1$ ， $u 2 s 2, c 1$	$u 1 s 2, c 2$ ， $u 2 s 2, c 2$	$1 - p$
概率		$q$	$1 - q$

Table 2

Fig.2

Fig.3

Fig.4

Fig.5

Table 3

Game payoff matrix of model"

		目标车辆		概
		$c 1 (接受)$	$c 2 (不接受)$	率
受试车辆	$s 1 (换道)$	$u 1 s 1, c 1$ ， $u 2 s 1, c 1$	$u 1 s 1, c 2$ ， $u 2 s 1, c 2$	$p$
受试车辆	$s 2 (不换道)$	$u 1 s 2, c 1$ ， $u 2 s 2, c 1$	$u 1 s 2, c 2$ ， $u 2 s 2, c 2$	$1 - p$
概率		$q$	$1 - q$

Table 3

Fig.6

Fig.7

Fig.8

Table 4

Simulation vehicle parameters"

仿真车辆

颜色

a m a x

m ? s - 2

v m a x

m ? s - 1

l

/nm

换道模式

蓝色

2.6

33.33

4800

LC2013

CAV

粉色

2.6

33.33

4800

动态风险模型/

博弈换道模型

Table 4

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Table 5

Fig.14

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车流密度/ （veh·h^-1）	A组事故数	B组事故数
2 000	0	0
2 250	0	0
2 500	0	0
2 750	0	0
3 000	1	0
3 250	1	1
3 500	3	0
3 750	3	1
4 000	2	1

Game behavior and model of lane-changing on the internet of vehicles environment

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