Game Algorithm of Intelligent Driving Vehicle Based on Left-Turn Scene of Crossroad Traffic Flow

Abstract

Vehicle networking and autonomous driving are hot areas of scientific research today, and they complement each other and play an important role in people’s intelligent travel. Intelligent driving vehicle can enhance road safety, effectively reduce traffic flow and fuel consumption, and promote the overall social development. It has great application value in urban traffic system. The traffic condition of a city directly affects the economic development of the city and the improvement of people’s quality of life. As the “core” of the urban traffic network, intersections are the frequent places where traffic jams occur. Game theory, as a win-win theory, mainly solves the problem of multiperson and multi-objective with contradictory objective functions and can be used to study the optimal signal control strategy. Aiming at this problem, the potential conflict behaviors of intelligent driving vehicles when turning left at urban intersections are analyzed and a decision model is established. A long-term trajectory prediction model of straight vehicles is established based on the Gaussian process regression model (GPR) considering the vehicle motion pattern. Combined with trajectory prediction, a decision-making process (model) for intelligent driving vehicles based on conflict resolution and a multifactor driving action selection method are proposed. A coordination algorithm based on game theory is designed for conflicting vehicles. The proposed algorithm is verified by the self-developed intelligent vehicle hardware simulation platform. The simulation results show that the PID method based on digital identification and positioning makes the intelligent vehicle obtain good system step response, can improve the disturbance tracking ability of intersection turning analysis, meet the requirements of turning control system, and reduce the complexity and randomness of parameter design, which is better than the traditional fuzzy control method.