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Academic Journal of Engineering and Technology Science, 2023, 6(11); doi: 10.25236/AJETS.2023.061117.

Research on Lane Change Decision Model of Intelligent Connected Vehicles in Multi-Vehicle Game


Fulei Liu, Shenhao Hou

Corresponding Author:
Fulei Liu

College of Automobile and Transportation, Tianjin University of Technology and Education, Tianjin, China


This paper builds a decision model for intelligent networked vehicles (ICV) lane changing behavior based on the idea of game theory. Focusing on the complex traffic conditions of three-lane highway with multi-vehicle interaction and competition, we solve the ICV lane change decision problem by pairing ICVs two by two, formulating a multi-group game and comparing the game gain results to find the best. Based on Time-to-Collision (TTC), we design the payoff function of this decision model game so that the game results in a pure strategy Nash equilibrium (PSNE), and obtain the unique optimal lane change decision for a given state by designing the objective function of the lane change game. The joint simulation by PreScan/Simulink/CarSim software verifies the rationality of the payoff function and the validity and applicability of the lane-changing model.


Intelligent Connected Vehicle, Game theory, Nash equilibrium, Lane change decision

Cite This Paper

Fulei Liu, Shenhao Hou. Research on Lane Change Decision Model of Intelligent Connected Vehicles in Multi-Vehicle Game. Academic Journal of Engineering and Technology Science (2023) Vol. 6, Issue 11: 112-119. https://doi.org/10.25236/AJETS.2023.061117.


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