Vehicle-Vehicle Game Based Lane Changing Decision-Making Method For Intelligent And Connected Vehicles

Changing lanes is a common driving behavior of vehicles and always lead to traffic congestion and safety accidents.With the powerful environmental perception and intelligent decision-making capabilities,Intelligent and Connected Vehicles(ICVs)can reduce road congestion and traffic accidents through vehicle-to-vehicle coordination.However,the high uncertainty and complexity of lane change scenarios increase the difficulty of lane change decision-making and reduce the lane change efficiency.Coordinated lane change in multivehicle scenarios is essentially a vehicle-to-vehicle game behavior to compete road spatiotemporal resources.In this paper,the lane-changing decision-making method based on cooperative game and the lane-changing decision-making method based on cooperative/noncooperative game for ICVs are proposed respectively.These methods can improve the efficiency and safety of lane change decision-making.The feasibility and effectiveness of the proposed lane change method are verified through SUMO simulation platform.The main research work and results of the thesis are as follows:1.For the forced lane-changing scene in the road merging area,a decision-making method for ICVs based on cooperative game is proposed.Firstly,a joint cost function is constructed,which includes the optimization objectives of fuel consumption and comfort and so on.Then,the multi-vehicle cooperative game is decomposed into several two-vehicle cooperative games to deduce the global minimum cost strategy of the confluence area.Finally,the Pareto efficient solution of the two-car game is obtained to determine the optimal merging and lane changing sequence.Simulation results show that the algorithm can effectively reduce the fuel consumption and improve the travel comfort and the traffic efficiency in the road merging area.2.For two-lane free lane change scenario,a decision-making method for lane-changing for ICVs based on cooperative/non-cooperative game is proposed.Firstly,the joint cost function is constructed,which includes the optimization objectives of safety,efficiency,comfort and so on.Then,based on the principle of predictive control,analyze the future driving strategy of ICVs and choose cooperative or non-cooperative game approach.Finally,the corresponding cost is calculated to obtain the optimal lane change action sequence.Simulation results show that the proposed algorithm can flexibly provide vehicles with cooperative or non-cooperative game methods according to the driving environment,and improve the efficiency of lane changing.3.For the visual simulation verification problem of coordinated lane changing of ICVs,the SUMO simulation platform is used to verify the proposed lane changing decision method.Through the secondary development of SUMO,it has the ability to visually simulate the coordinated lane-changing behavior of ICVs.On this basis,a variety of lane-changing scenarios are established to verify the proposed lane-changing decision-making method.The experimental results show that the ICV lane change decision method proposed in this paper can ensure the safety and effectiveness of vehicle lane change.