Autonomous driving technology plays an essential role in reducing road traffic accidents and ensuring more convenience while driving, so it has been widely studied in industrial and academic communities. The lane-changing decision-making process is challenging but critical for ensuring autonomous vehicles' (AVs) safe and smooth maneuvering. This paper presents a closed-loop lane-changing behavioral decision-making framework suitable for AVs in fully autonomous driving environments to achieve both safety and high efficiency. The framework is based on a complete information non-cooperative game theory. Moreover, we attempt to introduce human driver-specific driving styles (reflected by aggressiveness types) and micro-interaction behaviors for both sides of the game in this model, enabling users to understand, adapt, and utilize intelligent lane-changing techniques. Additionally, a model predictive control controller based on the host-vehicle (HV) driving risk field (DRF) is proposed. The controller's optimizer is used to find the optimal path with the lowest driving risk by using its optimizer and simultaneously adjusting its control variables to track the path. The method can synchronize path planning and motion control and provide real-time vehicle state feedback to the decision-making module. Simulations in several typical traffic scenarios demonstrate the effectiveness of the proposed method.
Keywords: autonomous vehicle; driving risk field; game theory; lane change; path planning and tracking.