Single Intersection Path Planning Based on Local Game
Aiming at the problems of high collision rate and low traffic efficiency caused by conflict risk of intelligent vehicles in single intersection environment,a path planning algorithm based on local game algorithm is proposed.By establishing the intersection conflict risk model,the conflict risk is analyzed,and the conflict resolution method between vehicles and pedestrians is proposed.The local game theory is introduced to establish the profit function to evaluate the feasible deci-sion,and the solution of the pure strategy Nash equilibrium under the constraint condition is ob-tained.The vehicle speed is planned,and the path planning of the intelligent vehicle is finally re-alized.The simulation results show that the proposed path planning algorithm improves the in-teraction success rate by 9.32％compared with the evolutionary game and cooperative game algo-rithm under different traffic flows,and the traffic efficiency increases by 33％on average,which can effectively alleviate the traffic pressure.
万方数据
维普
