Journal of Jilin University(Engineering and Technology Edition) ›› 2025, Vol. 55 ›› Issue (10): 3208-3220.doi: 10.13229/j.cnki.jdxbgxb.20231360

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Modeling of vehicle game cut-out and merging behavior based on trajectory data

Da-yi QU1(),Shou-chen DAI1,Yi-cheng CHEN2,Shan-ning CUI2,Yu-xiang YANG2   

  1. 1.School of Mechanical and Automotive Engineering，Qingdao University of Technology，Qingdao 266520，China
    2.School of Civil Engineering，Qingdao University of Technology，Qingdao 266520，China
  • Received:2023-12-06 Online:2025-10-01 Published:2026-02-03

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Abstract:

To improve the efficiency and safety of lane-changing merging of connected autonomous Vehicles， the game interaction process of vehicle lane-changing behavior is portrayed. The German ExiD high-precision trajectory dataset is used to deeply analyze the dynamic interactive game characteristics of vehicle lane changing and merging， and the lane-changing cut-out behavior of mainline vehicles in trajectory data is analyzed and defined from the perspectives of game decision-making and cost. When facing the ramp vehicles with clear intention to merge， part of the mainline vehicles choose to accelerate to the inside to change lanes to cut out and at the same time to provide a gap for the ramp vehicles to merge to reduce the cost of driving efficiency. When the vehicle speed is higher， the mainline vehicle tends to change lane and cut out to reduce the loss. The vehicle game cut-out and merge model based on trajectory data can portray the vehicle game decision-making process and effectively shorten the distance of changing lane and merging， the average reduction of the distance of changing lane and merging is 11.51 m， and the average improvement of vehicle collision time is 6.77 s.

Key words: transportation planning and management, connected autonomous vehicles, lane-changing behavior, game interaction properties, trajectory data

CLC Number: 

  • U491.2

Fig.1

Section of vehicle merging"

Fig.2

Trajectories of vehicles in outer mainline lane"

Fig.3

Process of mainline vehicle cutting out"

Fig.4

Variation of vehicle distance and merging gaps"

Fig.5

Driving status of merging and mainline vehicles"

Table 1

Comparison of merging processes for different interaction types"

交互类型主线车辆应对策略匝道车辆交互过程交互行为结果
减速让行协作式减速让行待主线车辆减速让行后换道汇入主线后车减速让行，匝道车辆换道汇入
后侧切出减少速度代价损失的同时协助匝道车辆汇入待主线后车换道切出后再次判断汇入条件进行换道汇入主线后车加速切出，匝道车辆加速汇入
前侧切出减少速度代价损失的同时协助匝道车辆汇入汇入车辆减速适配汇入间隙，待主线车辆前侧切出后紧随汇入主线前车加速切出，匝道车辆先减速后加速汇入

Fig.6

Safe lane-changing distance for a vehicle"

Fig.7

Decision-making process of vehicle merging"

Fig.8

Changes in the distance and merging gap of vehicles"

Table 2

Parameter calibration results"

符 号符号含义取值
amax最大加速度/(m?s-2）3.15
dcomf舒适减速度/(m?s-2)1.42
thw期望车头时距/s3.09
dmin最小停车间距/m7.47
Lcar车身长度/m4.70
kp车间距系数0.45
kd车间距变化系数0.25

Fig.9

Decision costs of different travel speeds"

Fig.10

Change of vehicle lateral position inmainline rear car cut-out scenario"

Fig.11

Changes of vehicle speed in mainline rearcar cut-out scenario"

Fig.12

Change of vehicle lateral position in mainlinefront car cut-out scenario"

Fig.13

Changes of vehicle speed in mainline frontcar cut-out scenario"

Fig.14

Comparison of vehicle merging distances"

Fig.15

Comparison of safety of changing lane"

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