The Design of Vehicle Profile Based on Multivehicle Collaboration for Autonomous Vehicles in Roundabouts

Algorithm 1

(UPC).

	Input: The data of vehicles
	Output: The lane-changing position of the vehicle
	Initializing data;
	VP (data);
	WHILE (TRUE):
	IF (0 < X < 50)
	= CalculateWeight();
	Payoff (k) = GetPayoff (P, VP (data));
	IF (Payoff (k)>Payoff)
	ChangeLane (position);
	ELSE
	Payoff (k + 1) = GetPayoff (P, VP (data));
	IF (Payoff (k + 1) > Payoff)
	ChangeLane (position);
	END
	END