面向智慧高速的合流区协作车辆冲突解脱协调方法

根据网联自动驾驶车辆接近合流区的全过程特征, 设定智慧高速合流车辆行驶的协调控制流程; 针对高速公路合流区冲突风险问题, 考虑车辆时间需求强度、车辆类型和行驶意图等因素, 提出了基于合作博弈理论的高速公路合流区网联自动驾驶车辆冲突解脱协调方法; 利用MATLAB软件对不同条件下的车辆通过合流区进行了仿真验证。仿真结果表明: 智慧高速合流区车辆行驶协调规则能够实现网联自动驾驶车辆的通过请求协调, 在合作博弈作用下能够进一步实现冲突系统虚拟支付成本最低的车辆调整决策; 合流区车辆系统虚拟风险程度随着速度的降低而降低; 当严格执行协调决策时, 网联自动驾驶车辆在合流区通过过程中具有更高的稳定性; 当潜在冲突点长度在一定范围内, 两网联自动驾驶车辆行驶速度相同时的合作博弈效果优于车辆行驶速度不同时的合作博弈效果; 利用该协调方法将冲突解脱过程的虚拟支付成本降低了9%~14%, 大大提高了网联自动驾驶车辆合流区通过过程的安全性。 

Collaborative method of vehicle conflict resolution in merging area for intelligent expressway

According to the characteristics of the entire process of connected autonomous vehicles approaching the merging area, the coordination control process of the vehicles driving in the intelligent expressway merging area was set. Aiming at solving the problem of conflict risk in expressway merging area, the factors such as vehicle time demand intensity, vehicle type, and driving intention were considered, and the conflict resolution coordination method of connected autonomous vehicles in expressway merging area was proposed based on cooperative game theory. The vehicle passing merging area under different conditions was simulated and verified by using MATLAB. Simulation result shows that coordination rules of the vehicles driving in the intelligent expressway merging area can realize the coordination of connected autonomous vehicles' passing request. Under the action of cooperative game, the vehicle adjustment decision with the lowest virtual payment cost in the conflict system can be further realized. The degree of vehicle system virtual risk in merging area decreases with the decrease of speed. When the coordination decision is strictly implemented, the connected autonomous vehicles have higher stability in the process of passing merging area. When the length of potential conflict point is within a certain range, the cooperative game effect of two connected autonomous vehicles with the same speed is better than the effect of vehicles with different speeds. The cooperative method reduces the virtual payment cost of the conflict resolution process by 9%-14%, and greatly improves the safety of the process of passing merging area of connected autonomous vehicles.