The invention belongs to the field of automobile
active safety, and relates to an automatic driving vehicle entrance and exit ramp driving decision-making method based on a dynamic game. The method comprises the following steps that: 1: utilizing a DSRC (
Dedicated Short Range Communications) method to identify a target vehicle; 2: judging whether two vehicles have a conflict or not, and applying aconflict
time difference [
Delta]T to judge the conflict between two vehicles; 3: establishing a game model, and applying a subgame perfect Nash equilibrium dynamic game theory to decide a vehicle intersection behavior; 4: calculating an
equilibrium point, according to determined respective expected revenue, calculating a replicator dynamics equation, and constantly regulating the own passage probability of two vehicles through the opposite-side replicator dynamics equation; 5: judging the stability of the
equilibrium point to select an
optimal decision; and 6: driving according to the strategy of the
stable equilibrium point. By use of the method, through the probability expectation of the game thought and a concept of loss in revenue, the game
equilibrium point is combined to make an optimal passage decision in real time, and an efficient and simple method and thought can be opened up for a vehicle interaction decision.