Lane change decision model for connected and autonomous vehicle considering game behavior in the interweaving area

The road traffic in a certain period of time in the future will be composed of Human-Driven Vehicle (HDV) and Connected and Autonomous Vehicle (CAV) as heterogeneous traffic flow, and the lane change decision model of CAV in the interweaving area is established for the heterogeneous traffic flow environment. The CAV-HDV lane-changing decision model is established based on the free and forced lane-changing behaviors of CAV in the intertwined area, and the CAVCAV lane-changing decision model is established by considering the minimum safety distance, and introducing the idea of game theory. The CAV lane change decision model is validated by using SUMO traffic flow simulation software, and the results show that the CAV lane change decision model established in this paper has higher passing efficiency and lane change success rate compared with the traditional gap threshold acceptance model under high CAV permeability.