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

Table 5

Solutions in three equilibriums.

Type	Strategy			Condition
	The sender (CAR-TF)		The receiver (CAR-E)
	Aggressive	Conservative
Separating equilibrium	S	NS	If S, then W; if NS, then C
	NS	S	If S, then C; if NS, then W	Not available
Pooling equilibrium	NS	NS	If NS, then C/W
				S	S	If S, then C
	Semiseparating equilibrium	S		Update information using p and x.; If S, then ; if NS, then C
		NS	Update information using p and x.; If NS, then ; if S, then W

S = signalling; NS = not signalling; C = changing lane; W = waiting.