A Discretionary Lane-Changing Decision-Making Mechanism Incorporating Drivers’ Heterogeneity: A Signalling Game-Based Approach

Table 11

Lane-changing rate under different scenarios (road traffic density and ).

Density (veh/ln)		LC rate (%)
		Signalling game-based	Space-based
200	0.1	27.9	18.0
	0.3	28.4	17.2
	0.5	25.8	18.1
	0.7	22.9	16.0
	0.9	19.9	16.9
300	0.1	24.1	13.0
	0.3	26.3	12.3
	0.5	23.8	12.2
	0.7	21.8	11.9
	0.9	18.6	12.6
400	0.1	23.3	8.5
	0.3	24.7	9.5
	0.5	23.6	9.7
	0.7	19.6	8.6
	0.9	17.6	9.4
500	0.1	20.8	6.5
	0.3	23.4	6.4
	0.5	21.4	6.7
	0.7	20.7	6.5
	0.9	18.7	6.6