Figures (12)  Tables (5)

    • Figure 1. 

      The schematics of lane-changing.

    • Figure 2. 

      The game process of the lane-changing decision.

    • Figure 3. 

      Schematic diagram of the evolution of the probability.

    • Figure 4. 

      Structure diagram of EGTML.

    • Figure 5. 

      Relationship between observation and collocation dataset.

    • Figure 6. 

      Training process of EGTML.

    • Figure 7. 

      Identification of the start and end time of vehicle No. 20. Diagram of (a) lateral position, (b) lateral speed.

    • Figure 8. 

      Distribution of sample eigenvalues. (a) Speed ratio mean - Speed ratio variance; (b) Speed ratio variance - Acceleration mean.

    • Figure 9. 

      Evolution diagram of probability of lane-changing and yielding. (a) Category 1 (Aggressive SV - Aggressive TB); (b) Category 2 (Aggressive SV - Conservative TB); (c) Category 3 (Conservative SV - Aggressive TB); (d) Category 4 (Conservative SV - Conservative TB).

    • Figure 10. 

      The ROC curves, and PR curves of different ML models. (a) ROC curves; (b) PR curves.

    • Figure 11. 

      Distribution of longitudinal Lane Change Decision position. (a) Category 1 (Aggressive vs Aggressive); (b) Category 2 (Aggressive vs Conservative); (c) Category 3 (Conservative vs Aggressive); (d) Category 4 (Conservative vs Conservative).

    • Figure 12. 

      The performance of EGTML. (a) Varying numbers of training data; (b) varying α.

    • Game players SV
      Lane change No lane change
      TB Yield P11 : α1TTC + β1L P21 : −β1L
      Q11 : α2TTC − β2Δv Q21 : −β2Δv
      No yield P12 : −α1TTC P22 : −β1L
      Q12 : β2Δv − α2TTC Q22 : β2Δv

      Table 1. 

      The payoff matrix for MLCD.

    • (x1, x2) $ F_{C V}^{\prime}\left(x^{*}\right) $ $ f_{T B}^{\prime}\left(x^{*}\right) $ Stability
      (0, 0) C-G F-H Determined by the payoff matrix
      (0,1) A-E H-F
      (1,0) G-C B-D
      (1,1) E-A D-B
      $\left( \dfrac{H-F}{B+H-D-F}, \dfrac{G-C}{A+G-C-E}\right) $ 0 0 Unstable solution

      Table 2. 

      Stability analysis of equilibrium solution.

    • Symbol Meaning Unit
      VOV, VOF, VOB, VTP, VTH The speed of the vehicle m/s
      AOV, AGF, ACB, ATF, ATB The acceleration of the vehicle m/s2
      ΔVCF, ΔVCB, ΔVTF, ΔVTB The speed difference between vehicles m/s
      GCF, GCB, GTF, GTB The gap between vehicles m
      TTCCF, TTCCB, TTCTF, TTCTB The TTC between vehicles s
      L The distance of SV to the end of MLC m
      $ \overline{v}_{s} $ Space average speed m/s

      Table 3. 

      Features of the EGTML model.

    • Category 1 2 3 4
      α1 0.98 0.99 0.96 0.97
      β1 0.02 0.01 0.04 0.03
      α2 0.8 0.9 0.8 0.85
      β2 0.2 0.1 0.2 0.15
      $ T T C _{TF}^{\min} $ 6.25 6.25 6.25 6.25
      $ T T C _{TB}^{\min}$ 6.25 6.25 6.25 6.25

      Table 4. 

      The calibration of parameters.

    • Index ANN RF LightGBM XGBoost
      P 0.775 0.855 0.833 0.871
      R 0.963 0.931 0.944 0.933
      A 0.795 0.832 0.865 0.847

      Table 5. 

      The evaluation of different ML models.