Mandatory Lane Change Strategy in VANET Based on Coordinated Stackelberg Game Model

Despite the unavailability of intersections and turns, expressway has several lane closures and ramps. Mandatory lane change takes place when the geographical condition requires the vehicles to shift lane, such as, exits, on and off-ramps. Due to a high-speed regulation on the expressway, it is more difficult and riskier to shift lane, therefore better strategies for semi-automation vehicles have to be implemented for the users' safety. This paper studies the efficiency of the Stackelberg based algorithm for safer mandatory lane maneuver, yet still with appropriate speed. The paper also utilizes model predictive controller (MPC) to predict the motions of surrounding vehicles a few time steps in the future to model the probabilities of subject vehicles to shift. Then we consider the costs, MPC and the game to output the best time for subject vehicle to shift. Finally, we simulate the algorithm to determine if it is efficient by comparing it to other existing algorithms and breaking the simulation down to various indicators.