关键词: 换道模型, 博弈论, 智能网联汽车, 车辆协同, 驾驶风格

Abstract: The autonomous vehicles make decisions according to their own information and lack effective interaction with human driving vehicles.When the autonomous vehicle is in complex traffic environment,its advantage is hard to play and even causes accidents.Based on the thought of intelligent connected vehicle,aiming at the lane changing behaviors in the driving process,this paper puts forward a lane-changing model by using game theory.Firstly,it gives full consideration to the behavior characteristics of the human lane changing.After the vehicle makes lane changing decision,it observes and analyzes the driving style of other vehicles,which affects the final decision.Secondly,the payoff function is determined according to the accelerating space in the premise of safety while adding the parameters expressing the driving style and quantifying the driving style scores.Finally,through the simulation by SUMO,the experimental results show that,by using game lane-changing model,the vehicles passing through increases by 5.60% and driving time decreases by 8.44% on average under different traffic densities,and no accident happens in the test.With the ability of perception and judgments of human driving style,traffic efficiency under the premise of safety is optimized.

Key words: lane-changing model, game theory, Intelligent Connected Vehicle(ICV), vehicle collaboration, driving style