一种基于合作博弈论的自动驾驶车道变更模型

提出一个新颖的车道变更模型,采用合作博弈方法激励车辆参与合作.首次将合作博弈理论应用到车道变更领域,设计用于两车变道的纳什讨价还价变道模型,然后扩展为三车的合作博弈变道模型,并求出变道模型的纳什讨价还价解和夏普利值.为了进一步激励车辆参与合作,在收益分配方案中加入支付补偿部分来实现整体收益的可转移性,从而取得模型的解....

LANE-CHANGE MODEL BASED ON COOPERATIVE GAME FOR AUTONOMOUS VEHICLES

Using the cooperative game,we propose a novel lane change model in this paper,so as to incentive vehicles cooperation.The cooperative game theory was applied in the lane-change for the first time.We designed the Nash bargaining game model for lane change between two vehicles,and extended it to a three-person cooperative game subsequently.We obtained the Nash bargain solution and the Shapley value of the lane change.To further motivate vehicles to join the collaboration,the payment compensation strategy was added to the allocation of income to realize the transferability of the overall income.And we got the solution of the model.The experimental results show that by using the cooperative game,the overall income of vehicles increases significantly,as well as the personal income of each participating vehicle.