Biform Game Approach to Strategy Optimization of Autonomous Vehicle Lane Changes on Highway Ramps
The traditional non-cooperative and cooperative game methods have limitations in solving the traffic problems of autonomous or assisted driving vehicles using vehicle-to-everything communication. In this paper, the biform game method is introduced to optimize the lane-changing behavior of autonomous...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/15/5/2568 |
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| Summary: | The traditional non-cooperative and cooperative game methods have limitations in solving the traffic problems of autonomous or assisted driving vehicles using vehicle-to-everything communication. In this paper, the biform game method is introduced to optimize the lane-changing behavior of autonomous or assisted driving vehicles in highway on-ramp areas based on vehicle-to-everything. Considering the lane-changing and speed adjustment needs of autonomous vehicles in high-speed scenarios, a forced lane-changing framework was constructed, and the speed gain allocation was determined based on the target vehicle lane-changing time, and a speed increase was regarded as a benefit. Through the constructed biform game model, research was carried out on conflicting and cooperative vehicles. A strategy combination is first constructed in the non-cooperative situation, and then the cooperative game competition stage begins. The Shapley value is used to deduce the distribution value of each participant in the cooperative game stage, which is the profit value in the non-cooperative stage, and then the pure-strategy Nash equilibrium solution is calculated. The interaction with other vehicles in the lane-change process is based on maximizing the benefit to all the vehicles participating in the lane change, and the optimal speed solution of the biform game model when changing lanes is obtained. Numerical examples were used to verify the validity and feasibility of the model and broaden the application range of the biform game method. In future research, this method will be applied to more complex traffic models, such as driving models in emergency situations and research from the perspective of road infrastructure designers, providing new ideas and directions for optimization strategies for autonomous vehicle lane changes in the Internet of Vehicles. |
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| ISSN: | 2076-3417 |