Research on lane-changing game strategy considering road adhesion coefficient

Journal Information

J. Hefei Univ. Tech. (Nat. Sci.), Oct.2025, Vol.48 No.10: 1317-1324

DOI: 10.3969/j.issn.1003-5060.2025.10.004

Authors

WU Di $ ^{1,2} $, SUN Guozhao $ ^{1} $, LI Weihan $ ^{1,2} $, ZHAO Fei $ ^{1} $, FAN Shaojie $ ^{1} $

(1. School of Automobile and Traffic Engineering, Hefei University of Technology, Hefei 230009, China; 2. Anhui Key Laboratory of Digital Design and Manufacturing, Hefei 230009, China)

Abstract and Keywords

Abstract: A lane-changing game strategy considering road adhesion coefficient is proposed for high-speed lane changing of autonomous vehicles, aiming to improve the safety and comfort of vehicle lane changing. Firstly, a lane-changing game model is established considering road adhesion coefficient, and a vehicle lane-changing game strategy is designed and solved using Nash equilibrium. Secondly, a fifth-degree polynomial is used for path planning during lane changing, and a model predictive controller is designed to achieve path tracking control during lane changing. Finally, joint simulations are conducted based on MATLAB and CarSim, and the results show that the proposed lane-changing game strategy considering road adhesion coefficient ensures a lateral tracking error within 0.1 m and a lateral acceleration within 0.2 g. This effectively enhances the safety and comfort of autonomous vehicles.

Keywords: autonomous driving; lane changing; road adhesion coefficient; game theory; Nash equilibrium

作者信息

吴迪 $ ^{1,2} $，孙国照 $ ^{1} $，李维汉 $ ^{1,2} $，赵飞 $ ^{1} $，范少杰 $ ^{1} $

(1. 合肥工业大学汽车与交通工程学院, 安徽合肥 230009; 2. 安徽省数字化设计与制造重点实验室, 安徽合肥 230009)

摘要和关键词

摘要: 针对自动驾驶车辆的高速换道行为,文章提出一种考虑地面附着系数的换道博弈策略,以提高汽车换道的安全性和舒适性。首先,考虑附着系数建立换道博弈模型,设计车辆换道博弈策略,并利用纳什均衡进行求解;然后,基于五次多项式进行换道时的路径规划,并设计模型预测控制器,实现换道过程中的路径跟踪控制;最后,基于MATLAB和CarSim进行联合仿真验证。结果表明,文章所提出的考虑附着系数的换道博弈策略可以保证横向跟踪误差在0.1 m之内、侧向加速度在0.2 g以内,有效提高了自动驾驶车辆的安全性和舒适性。

关键词: 自动驾驶；换道；地面附着系数；博弈论；纳什均衡

Funding

安徽省中央引导地方科技发展专项资金资助项目（JZ2022AKKZ0409）；中央高校基本科研业务费专项资金资助项目（PA2021GDSK0076）

合肥工业大学学报(自然科学版)

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