Multi-vehicle Dynamic Interactive Lane Changing Model Based On Game Theory

Car following and lane changing are the two most basic driving behaviors in road traffic flow.Compared with car following behavior,lane changing not only needs to consider the operation status of vehicles in front of the lane,but also needs to consider the operation status of vehicles in front of and behind the target lane and vehicles in front of and behind the lane.It is a multi-vehicle dynamic interactive operation process.It is of great theoretical and practical significance to further understand the complexity of lane changing process and solve the traffic accidents caused by lane changing.It can provide theoretical basis for lane changing decision-making and path planning in automatic driving.Firstly,it divides the lane changing stages,determines the starting and ending points of lane changing,analyzes the generation of lane changing intention and the decision-making process of lane changing.The scene investigation is carried out by the method of UAV aerial photography,and the track data extraction software of tracker is used to extract the lane changing data of multi-vehicle interaction.Based on the analysis of macro traffic flow characteristics such as traffic density,traffic volume and average speed,this paper studies lane changing characteristics and its distribution law from the aspects of lane changing time,speed of lane changing vehicles,speed difference between lane changing vehicles and interactive vehicles,and relative distance between lane changing vehicles and interactive vehicles.Secondly,the game mechanism and lane changing model of multi-vehicle dynamic interactive lane changing are studied.Based on the demand safety distance between vehicles,the concept of multi-vehicle dynamic interaction is defined,the multi-vehicle dynamic interaction area is determined,and the quantitative calculation method of multi-vehicle dynamic interaction area is given.This paper analyzes the dynamic game process and game operation mechanism between vehicles in lane changing process.According to Stackelberg’s game theory,the driving revenue function is constructed from three aspects of speed,space and safety characteristics,and the multi-vehicle dynamic interactive lane change decision model is established based on game theory;Finally,according to the dynamic interaction mechanism between vehicles in lane changing process,the dynamic interaction speed change model of surrounding vehicles is established.Finally,the validity of the model is verified.The key parameters of the model are calibrated by the measured data;In the simulation environment,by setting different initial lane changing speed,different initial interaction degree and other parameters,the scene of multi-vehicle dynamic interactive lane changing under different parameter combinations is simulated;Finally,the simulation results are compared with the measured values to verify the effectiveness of the model.This paper defines the multi vehicle dynamic interaction,determines the calculation method of the area of the multi-vehicle dynamic interaction area,gives the driving revenue function,establishes the multi-vehicle dynamic interactive lane change decision model and the dynamic interactive speed change model of the surrounding vehicles,and calibrates the parameters of the model.This paper analyzes the change of speed and distance between lane changing vehicles and surrounding interactive vehicles under different initial speed and different interaction degree.The research results can be applied to vehicle assisted driving and L3 level automatic driving,and provide theoretical basis and technical support for lane change decision-making and lane change trajectory planning.