Modeling lane-changing behavior in a connected environment: A game theory approach

•Models lane changing behavior in connected environment using game theory concepts.•Formulates 2-person non-zero-sum non-cooperative game under complete information.•Model parameters estimated using NGSIM vehicle trajectories.•Implemented in simulation framework to evaluate effect of connectivity.

Vehicle-to-Vehicle communications provide the opportunity to create an internet of cars through the recent advances in communication technologies, processing power, and sensing technologies. A connected vehicle receives real-time information from surrounding vehicles; such information can improve drivers’ awareness about their surrounding traffic condition and lead to safer and more efficient driving maneuvers. Lane-changing behavior, as one of the most challenging driving maneuvers to understand and to predict, and a major source of congestion and collisions, can benefit from this additional information. This paper presents a lane-changing model based on a game-theoretical approach that endogenously accounts for the flow of information in a connected vehicular environment. A calibration approach based on the method of simulated moments is presented and a simplified version of the proposed framework is calibrated against NGSIM data. The prediction capability of the simplified model is validated. It is concluded the presented framework is capable of predicting lane-changing behavior with limitations that still need to be addressed. Finally, a simulation framework based on the fictitious play is proposed. The simulation results revealed that the presented lane-changing model provides a greater level of realism than a basic gap-acceptance model.