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Research on High-Speed Automatic Lane Change Decision-Making and Planning Considering Driving Style
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Xinfeng Zhang1, 2, Yajun Wang1, Haojie Zhang1, Juan Zhao1, Ruihao Jia1
Automobile Technology | 2024, (7) : 17 - 28
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Automobile Technology | 2024, (7): 17-28
• Feature Topic on Motion Planning and Control Techniques •
Research on High-Speed Automatic Lane Change Decision-Making and Planning Considering Driving Style
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Xinfeng Zhang1, 2, Yajun Wang1, Haojie Zhang1, Juan Zhao1, Ruihao Jia1
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  • 1 Chang’an University, Xi’an 710064
  • 2 Xinjiang Agricultural University, Urumqi 830052
Published: 2024-07-24 doi: 10.19620/j.cnki.1000-3703.20230357
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There are insufficient vehicle-vehicle interaction and poor matching between planning and control in the decision-making model of high-speed autonomous vehicles. In order to solve these problems, a closed-loop lane change decision model based on Stackelberg game was constructed. Faulty vehicle response was incorporated into lane changing decision while introducing driving style feature. The multi-objective decision-making cost function was optimized. Particle Swam Optimization (PSO) algorithm was used to solve the game decision model, and the vehicle state was predicted by using a kinematic model that considers the influence of center of mass sideslip angle. A nonlinear model predictive planning controller based on dynamic risk potential field method was designed. The simulation test results show that the closed-loop lane-changing decision-making model proposed in this paper can effectively combine the interaction behavior and driving style characteristics of vehicles to make correct decision-making instructions and implement corresponding motion planning and control.

Autonomous vehicle  /  Lane change decision-making and planning  /  Driving style  /  Stackelberg game theory
Xinfeng Zhang, Yajun Wang, Haojie Zhang, Juan Zhao, Ruihao Jia. Research on High-Speed Automatic Lane Change Decision-Making and Planning Considering Driving Style[J]. Automobile Technology, 2024 , (7) : 17 -28 . DOI: 10.19620/j.cnki.1000-3703.20230357
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doi: 10.19620/j.cnki.1000-3703.20230357
  • Online Date：2025-12-22
  • Published：2024-07-24
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    1 Chang’an University, Xi’an 710064
    2 Xinjiang Agricultural University, Urumqi 830052
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