The coexistence of human-driven and autonomous vehicles poses challenges for ensuring driving safety and traffic efficiency, particularly in interactions between vehicles in adjacent lanes. To enhance driving safety and traffic efficiency, this paper proposed an integrated decision making and trajectory planning method based on game theory and a path-speed decoupled approach, which optimizing path and speed separately for autonomous vehicles in mandatory lane changing (MLC) scenario. The proposed method employs a path-speed decoupled approach to simultaneously plan two trajectories for lane keeping and lane changing in the Frenet Frame. Subsequently, the decision making module observe the driving styles of surrounding vehicles and determine the optimal strategy using a non-cooperative Stackelberg game between the self vehicle (SV) and the follow vehicle (FV). Based on the optimal trajectories of SV and FV, the SV undergoes trajectory re-planning. To validate the effectiveness of the proposed method, a hardware-in-the-loop co-simulation platform is constructed. The simulation experiments demonstrate the efficacy of the proposed method in MLC scenario. The proposed method leads to a 15% improvement in average speed compared to the rule-based method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Mandatory Lane Changing Integrated Decision Making and Planning Method Using Game Theory for Autonomous Vehicle


    Contributors:
    Li, Wenbo (author) / Wang, Weida (author) / Yang, Chao (author) / Qie, Tianqi (author) / Liu, Wenjie (author) / Zuo, Yinchu (author)


    Publication date :

    2023-10-27


    Size :

    4002193 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Evolutionary game decision-making method for lane changing of autonomous vehicle

    YAO RONGHAN / WANG XIAOMEI / SUN LI et al. | European Patent Office | 2025

    Free access

    Lane changing decision-making method for autonomous vehicle

    YUE WEIQI / ZHENG PENGJUN / HOU JIAWEI et al. | European Patent Office | 2024

    Free access


    Game theory-based lane changing decision-making method considering different vehicle types

    LI XIUKUI / WEI YUTONG | European Patent Office | 2023

    Free access