基于Stackelberg 博弈理论的自主性车道变换模型

本文提出了一种基于Stackelberg 策略的自主式车道变换模型.车道变换是一种 非常复杂的决策过程，很多因素会影响驾驶员做出变换车道的决策.本文关注自主式车道 变换情况，在自主式车道变换中驾驶员希望通过车道变换来得到更好的驾驶环境，例如 更高的速度或者更大的车头时距等.车道变换是一个决策的过程,在这个过程中驾驶员会 权衡诸多的因素并做出决策.在车道变换过程中目标车辆和在目标车道上的后随车辆会 相互产生影响.另外不同的驾驶员有不同的特点，即便在相同的交通环境下也会做出不同 的决策.我们利用Stackelberg 策略理论对驾驶员的车道变换决策行为进行建模，并利用仿 真对所提出的模型进行验证.

Discretionary Lane Changing Modeling Based on Stackelberg Game Theory

A discretionary lane changing model based on Stackelberg game is proposed. Lane changing is a very complex decision making process. Many factors can affect the driver to make the decision to change the lane. We only consider the discretionary lane changing case. In this case the driver want to obtain more desirable driving status through changing the lane, such as higher speed or bigger time headway, etc. Lane changing is a process of decision making. In this process the driver balances the factors and makes the decision. During changing the lane, the target vehicle and the following vehicle in the target lane can affect each other. And different drivers have different characteristics, i.e. different drivers may make different decisions under the same surrounding status. We use Stackelberg game theory to model this decision making process. Simulation is conducted to verify the proposed discretionary lane changing model.