LAUSR

Cooperative driving around intersections has aroused increasing interest in the last five years. Meanwhile, driving safety in non-signalized intersections has become an issue that has attracted attention globally. In view of the potential collision risk when more than three vehicles approach a non-signalized intersection from different directions, we propose a driving model using cooperative game theory. First, the characteristic functions of this model are primarily established on each vehicle’s profit function and include safety, rapidity and comfort indicators. Second, the Shapley theorem is adopted, and its group rationality, individual rationality, and uniqueness are proved to be suitable for the characteristic functions of the model. Following this, different drivers’ characteristics are considered. In order to simplify the calculation process, a zero-mean normalization method is introduced. In addition, a genetic algorithm method is adopted to search an optimal strategy set in the constrained multi-objective optimization problem. Finally, the model is confirmed as valid after simulation with a series of initial conditions.摘要交通安全问题一直是世界范围内的重大议题, 而无信号交叉口因其高事故率备受人们的关注。 近年来, 交叉口车辆的协同驾驶行为研究成为一大热点。 分析了多辆车驶向某无信号交叉口时的潜在冲突危险, 提出了一种基于合作博弈的车辆协同驾驶模型。 首先, 以车辆的安全性、 快速性、 舒适性为指标构建交叉口车辆行驶过程的特征函数; 其次, 采用 Shapley 定理对这一插车过程进行建模, 并在数学上严格证明了特征函数满足 Shapley 条件下的集体理性、 个体理性、 唯一性; 然后, 在模型中加入区分驾驶员行为特性的参数; 接着, 采用 Zero-mean 的标准化方式简化数值运算, 并通过遗传算法求解该模型的最优策略集; 最后, 通过一系列的仿真实验, 验证了该模型的有效性。