Lane Changing Model Based on Discrete Dynamic Game

On the basis of analysis of lane changing action,a way of building model based on discrete dynamic game was put forward.Then the stage game process between two vehicles and action strategy of each vehicle were described,and the speed expectation of each vehicle was regarded as the probability for different strategies.Last, regarding all the factors which affect the speed expectation,the speed exception was achieved.By comparing the surveyed lane changing times with that of the simulation values under different traffic flows,the effectiveness of the model is validated.