| Summary: | Autonomous driving vehicles have some advantages, such as alleviating tasks of drivers and reducing carbon emissions. With the advancement of intelligent network connection technology, autonomous driving vehicles are showing a trend of practicality and popularization, so it is crucial to study the decision-making mechanism of autonomous driving vehicles. This paper focuses on the lane-changing decision-making behavior of autonomous driving vehicles. Firstly, the objective quantification of lane-changing intention is carried out to reasonably show the lane-changing intention of autonomous driving vehicles as a prerequisite for lane-changing decision-making. Besides, the lane-changing collision probability and the lane-changing dynamic risky coefficient are introduced, and explore the dynamic influencing factors of lane-changing process for autonomous driving vehicles. Based on the game theory, the decision-making behavior model of the lane-changing game for autonomous driving vehicles is established. Analyze the decision-making behavior mechanism of lane-changing, so that the autonomous driving vehicle can change lanes safely and reasonably. Finally, with SUMO software, the traditional LC2013 lane-changing model and the decision-making behavior model of the lane-changing game are used for simulation experiments and comparative analysis. The results show that under the decision-making behavior model of the lane-changing game, the average speed of vehicles increases by 3.6%, and the average number of passed vehicles increases by 10.3%, which has higher stability, safety, speed gains, and lane utilization. The modeling of lane-changing game strategy for autonomous driving vehicles comprehensively considers the dynamic factors in the traffic environment, and scientifically shows the lane-changing decision-making mechanism of autonomous driving vehicles.
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