用博弈论让自动驾驶车遵守交规并安全避让其他车辆
Decision Making in Urban Traffic: A Game Theoretic Approach for Autonomous Vehicles Adhering to Traffic Rules
- 将交通规则转化为行为参数，通过博弈模型求解最优决策
- 在仿真和实车平台测试中均实现安全交互且严格遵守规则
- 适合研究自动驾驶交互决策与交通规则合规性的工程师
城市自动驾驶决策规划的核心挑战在于处理复杂多样的交通参与者及其不可预测的运动模式，同时在动态变化的交通场景中解读并遵守交通法规。本文提出一种基于规则的自动驾驶决策与规划框架，从交通规则中提取路权信息以生成行为参数，并将其整合以有效遵循和穿越交通规则。通过将交通参与者间的强交互关系数学建模为微分博弈问题，利用纳什均衡求解，使自动驾驶车辆获得最优决策。该框架在仿真环境及全尺寸车辆平台上进行了测试，结果表明，自车能够安全地与周围交通参与者互动并严格遵守交通规则。
原文摘要 · Abstract (English)
One of the primary challenges in urban autonomous vehicle decision-making and planning lies in effectively managing intricate interactions with diverse traffic participants characterized by unpredictable movement patterns. Additionally, interpreting and adhering to traffic regulations within rapidly evolving traffic scenarios pose significant hurdles. This paper proposed a rule-based autonomous vehicle decision-making and planning framework which extracts right-of-way from traffic rules to generate behavioural parameters, integrating them to effectively adhere to and navigate through traffic regulations. The framework considers the strong interaction between traffic participants mathematically by formulating the decision-making and planning problem into a differential game. By finding the Nash equilibrium of the problem, the autonomous vehicle is able to find optimal decisions. The proposed framework was tested under simulation as well as full-size vehicle platform, the results show that the ego vehicle is able to safely interact with surrounding traffic participants while adhering to traffic rules.
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