公开(公告)号：US20240351615A1

公开(公告)日：2024-10-24

申请号：US18752907

申请日：2024-06-25

申请人： TIANJIN UNIVERSITY

发明人： Kang SONG ,  Fan GUO ,  Hui XIE

IPC分类号： B60W60/00 ,  B60W50/00

CPC分类号： B60W60/0027 ,  B60W50/0097 ,  B60W60/001 ,  B60W2050/0031 ,  B60W2050/0052 ,  B60W2552/10 ,  B60W2554/4041 ,  B60W2554/4046 ,  B60W2720/106

摘要： Disclosed is a method for cooperative decision-making on lane-changing behavior of an autonomous vehicle based on Bayesian game. On one hand, intelligent networked road perception and big data analysis are utilized to infer statistical characteristics of driving styles of a side vehicle under different time periods and traffic flow states, serving as prior predictions of driving styles of the side vehicle. On the other hand, the dynamic interaction behaviors during lane-changing processes of a specified vehicle and the side vehicle are continuously observed and posterior corrections are made to the driving styles of the side vehicle. When the specified vehicle generates a lane-changing willingness, probabilities of driving styles are iteratively predicted using Bayesian game principles. Comprehensive consideration of style and willingness probabilities yields a lane-changing probability of the specified vehicle. Once the lane-changing probability exceeds a threshold, a lane-changing activation instruction is issued.