A Game Lane Changing Model Considering Driver’s Risk Level in Ramp Merging Scenario
Abstract
:1. Introduction
1.1. Literature Review
1.2. Contribution
1.3. Paper Organization
2. Research on Driving Style under Lane-Changing Conditions
2.1. Extraction of Driving Style Features
2.2. Cluster Analysis by K-Means
3. Ramp Merge Decision Modeling
3.1. Ramp Merging Decision Modeling
- (1)
- The vehicles studied are all cars, excluding other types of vehicles, such as trucks;
- (2)
- We assumed that the FV is a human-driven vehicle equipped with V2X and V2V equipment;
- (3)
- We assumed that the merging vehicle EV studied in this paper is an autonomous vehicle and has been equipped with complete on-board sensors and wireless communication modules;
- (4)
- Only the acceleration and deceleration behavior of the FV is considered, and its lane-changing behavior is not considered.
3.2. Vehicle Kinematics Model
3.3. Definition of EV Cost-Function
3.4. Definition of Game Equilibrium
4. Quintic Polynomial Trajectory Planning with Multi-Constraints
5. Simulation and Verification
5.1. Simulation Parameter Setting
5.2. Model Simulation Test
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Decision Making | The Following Vehicle | ||
---|---|---|---|
Strategy | Yield | Block | |
Ego vehicle | Lane-changing | ||
Wait |
Decision Making | Trajectory Planning | ||||||
---|---|---|---|---|---|---|---|
0.32 | 0.6 | 0.7 | ,/(m) | 1.4, 1.65 | |||
8 × 103 | 1 × 10−5 | (°) | 10 | 17 | |||
0.4 | /(m) | 20 | (°) | 2 | , (N/rad) | −264,570, −240,000 | |
7 × 103 | [−3, 5] | (rad/s) | 3 | (m/s2) | 0.4g | ||
0.45 | [−4, 5] | (kg) | 1650 | (m) | 60 | ||
(m/s) | 30 | 2.1 | (m) | 3.05 | (s) | 14 |
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Share and Cite
Yang, G.; Liu, S.; Ye, M.; Tang, C.; Fan, Y.; Liu, Y. A Game Lane Changing Model Considering Driver’s Risk Level in Ramp Merging Scenario. World Electr. Veh. J. 2023, 14, 172. https://doi.org/10.3390/wevj14070172
Yang G, Liu S, Ye M, Tang C, Fan Y, Liu Y. A Game Lane Changing Model Considering Driver’s Risk Level in Ramp Merging Scenario. World Electric Vehicle Journal. 2023; 14(7):172. https://doi.org/10.3390/wevj14070172
Chicago/Turabian StyleYang, Guo, Shihuan Liu, Ming Ye, Chengcheng Tang, Yi Fan, and Yonggang Liu. 2023. "A Game Lane Changing Model Considering Driver’s Risk Level in Ramp Merging Scenario" World Electric Vehicle Journal 14, no. 7: 172. https://doi.org/10.3390/wevj14070172
APA StyleYang, G., Liu, S., Ye, M., Tang, C., Fan, Y., & Liu, Y. (2023). A Game Lane Changing Model Considering Driver’s Risk Level in Ramp Merging Scenario. World Electric Vehicle Journal, 14(7), 172. https://doi.org/10.3390/wevj14070172