Ye, Wei (Southeast university), Xu, Yueru (Southeast University), Shao, Yichang (Nanjing University of Posts and Telecommunications), Li, Yichen (Southeast University)

Analyzing and Modeling Different Patterns of Vehicle’s Cut-In Behavior in Platoons

Scheduled for presentation during the Regular Session "S25c-Cooperative and Connected Autonomous Systems" (TH-LA-T25), Thursday, November 20, 2025, 16:00−16:20, Cooleangata 4

2025 IEEE 28th International Conference on Intelligent Transportation Systems (ITSC), November 18-21, 2025, Gold Coast, Australia

This information is tentative and subject to change. Compiled on October 18, 2025

Abstract

This paper proposes a Bayesian Stackelberg game model to analyze and predict vehicle insertion behaviors in platoons, emphasizing the dynamic decision-making process involved in merging vehicles. The model categorizes insertion strategies into four types: staying in the current lane, immediate insertion, waiting for a better opportunity, and adjusting position to find a suitable gap. It incorporates a leader-follower structure and accounts for uncertainty in the follower's response. The model is validated through controlled driving simulation experiments, achieving a prediction accuracy of 94% under a 1:2 insertion event scenario, significantly outperforming baseline models. The results demonstrate that the proposed model provides a more accurate representation of real-world insertion behaviors compared to traditional methods, with improved accuracy and elimination utility heterogeneity across different insertion modes. This study offers valuable insights for enhancing cooperative driving systems, improving the efficiency and safety of platoon-based driving strategies, and advancing vehicle merging technology.