A Cooperative/Non-cooperative Game Based Lane-changing Decision-making Method for Intelligent and Connected Vehicles

This paper addresses a cooperative/non-cooperative game based lane-changing decision-making method for intelligent and connected vehicles (ICVs) for reducing traffic congestion and accident in the lane-changing process. Firstly, the lanechanging behavior of ICVs is regarded as the cooperative and non-cooperative games from the perspective of competing the right-of-way, wherein cooperative game focuses on maximizing the overall traffic benefits and non-cooperative game mainly concentrates on maximizing its individual benefits. Then, a cost function model that integrates multiple factors is constructed to quantify and evaluate the lane-changing behavior. In addition, based on Pontryagin’s maximum principle, the optimal decision-making strategy is solved by predicting the lane-changing behavior of ICVs. Finally, simulation studies are performed on MATLAB and SUMO to show the feasibility and effectiveness of the proposed method.