A Game-Theoretic Model of Human Driving and Application to Discretionary Lane-Changes

Understand

In this paper we consider the application of Stackelberg game theory to model discretionary lane-changing in lightly congested highway setting.

• The fundamental intent of this model, which is parameterized to capture driver disposition (aggressiveness or inattentiveness), is to help with the development of decision-making strategies for autonomous vehicles in ways that are mindful of how human drivers perform the same function on the road (on which have reported elsewhere.) This paper, however, focuses only on the model development and the respective qualitative assessment.
• This is accomplished in unit test simulations as well as in bulk mode (i.e.
• using the Monte Carlo methodology), via a limited traffic micro-simulation compared against the NHTSA 100-Car Naturalistic Driving Safety data.