Cooperative decision-making of multiple autonomous vehicles in a connected mixed traffic environment: A coalition game-based model
Cooperative decision-making of multiple autonomous vehicles in a connected mixed traffic environment: A coalition game-based model
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DOI：
10.1016/j.trc.2023.104415
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发表时间：
2023-12
期刊：
影响因子：
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通讯作者：
Minghao Fu;Shiwu Li;Mengzhu Guo;Zhifa Yang;Yaxing Sun;Chunxiang Qiu;Xin Wang;Xin Li
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文献类型：
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作者：
Minghao Fu;Shiwu Li;Mengzhu Guo;Zhifa Yang;Yaxing Sun;Chunxiang Qiu;Xin Wang;Xin Li
车联网技术的进步使车辆能够在混合交通中合作。然而，实现多个连接的自主车辆（CAV）的协同决策时，连接的手动车辆（CMV）的存在的影响是一个具有挑战性的领域，在当前的研究。在这项研究中，我们提出了一个联盟博弈为基础的（CG为基础的）模型多CAV合作决策在连接的混合交通环境。首先，该模型结合感知风险场理论，从不同机动车的角度对驾驶风险进行量化，并以此来确定机动车运动状态的不确定性。其次，该模型可以识别由多辆换道车辆引起的冲突，并将冲突问题解耦为多个两车换道博弈，包括两个CAV之间的合作博弈和CAV与CMV之间的非合作博弈。为了测试所提出的模型，设置了四个场景，阻止多个CAV的通过;在这些场景中，基于CG的模型的平均速度比LC 2013模型高21.05%，16.76%，23.17%和12.55%。仿真结果表明，基于CG的模型可以提高多CAV的效率，同时确保在混合交通流的安全。
Advances in vehicle-networking technologies have enabled vehicles to cooperate in mixed traffic. However, realizing the cooperative decision-making of multiple connected autonomous vehicles (CAVs) when influenced by the presence of connected manual vehicles (CMVs) is a challenging area in current research. In this study, we propose a coalition game-based (CG-based) model for multi-CAV cooperative decision-making in a connected mixed traffic environment. First, the model integrates the perceived risk field theory, quantifying the driving risk from the perspective of different CMVs; this risk is used to determine the uncertainty of the motion state of CMVs. Second, the model can identify the conflicts caused by multiple lane-changing vehicles and decouple the conflict problem into multiple two-vehicle lane-changing games, including a cooperative game between two CAVs and a non-cooperative game between a CAV and a CMV. To test the proposed model, four scenarios that blocked the passage of multiple CAVs were set up; in these scenarios, the average speed of the CG-based model was 21.05, 16.76, 23.17, and 12.55% higher than that of the LC2013 model. The simulation results showed that the CG-based model could improve the efficiency of multiple CAVs while ensuring safety in a mixed traffic flow.