Lane changing decision based on binary finite and zero-sum grey game

Abstract

A study was conducted to investigate lane changing decision-making mechanism based on drivers’ driving behavior and game theory. Sixteen drivers ranging from 28 to 50 yeas of age were selected to take part in the independent driving experiments under real road environment. A section of expressway with a total length of 25 kilometers was determined as the test route. Lane changing decision-making process, visual search mode and head movements, as well as the game characteristics between the object vehicle and the following vehicle in the target lane were analyzed. Results indicated that Lane changing time window was determined as 5-second based on the data of eye movements and vehicle running status. During lane changing intent stages, drivers would pay more attention to dash board and rearview mirror interest regions. In the lane changing game played between the objective vehicle and the following vehicle in the target lane, the optimal strategies of the object vehicle and the following vehicle in the target lane were slow down, accelerated motion, respectively. These results may provide theoretical and technological support for the improvement of current lane changing auxiliary system. The next step of our research will focus on characteristic index construction for lane changing intent identification, as well as lane changing behavior prediction.