# Biform Game Approach to Strategy Optimization of Autonomous Vehicle Lane Changes on Highway Ramps
## 1 Introduction
To study resource allocation and cooperation mechanisms in connected vehicles during highway driving (not directly related to lane-changing but they do have an impact on it), some scholars designed vehicle communication resource allocation models using game theory [32]. Meanwhile, [PERSON] et al. [33] explored the allocation strategy of computing resources in connected vehicles. In highway driving, vehicles need to process a large amount of data in real time for lane-changing decisions. Adequate computing resources ensure accurate and timely decision-making. Their research using game theory to solve the problem of insufficient computing resources is of great significance for improving the overall performance of the connected vehicle system and thus influencing lane-changing decisions. Safety and conflict avoidance are key aspects in highway lane-changing research. [PERSON] et al. [34] analyzed vehicle evasion decisions through game theory, which are relevant to lane-changing safety. When a vehicle needs to change lanes, it must consider the potential collision risks with the surrounding vehicles. Game-theoretic analysis helps to make more rational evasion decisions. [PERSON] et al. [30] studied the safety game strategies for vehicles in a connected vehicle environment under severe weather conditions. In bad weather, highway lane-changing becomes more dangerous. Their research considered the special impact of severe weather on vehicle driving safety and proposed more targeted safe driving strategies, which also involve lane-changing decisions. Moreover, some studies enhanced game models with reinforcement learning to optimize driving modes [35], which can also affect lane-changing behaviors. Incorporating pedestrian behavior into game decisions [36] is important for highway driving near exits or entrances where pedestrians may be present. Analyzing the traffic control strategies of connected and autonomous vehicles at intersections [37] provides references for lane-changing decisions when vehicles approach intersections on the highway. Using the game model for driver fatigue detection and intervention in the connected vehicle environment [38] ensures that drivers' physical conditions do not negatively affect their lane-changing decisions. [PERSON] et al. [31] proposed an efficient cooperative lane-changing strategy for intelligent connected vehicles. Their strategy effectively improved road traffic efficiency and driving safety during highway lane-changing. [PERSON] et al. [29] established a vehicle path-planning model in a connected vehicle environment using game theory. When planning the path, lane-changing decisions are an important part. Their model comprehensively considers traffic congestion, road conditions, and vehicle interactions, providing more reasonable path-planning solutions that are closely related to lane-changing. Although these studies have achieved remarkable results, they faced challenges. The complexity of game-theoretic models often conflicts with computational efficiency. In addition, it is difficult to fully incorporate all real-world scenarios into the models. Future research can focus on multi-agent cooperative optimization, integrating emerging technologies, and strengthening empirical research and verification. These directions can fully exploit the potential of game theory and connected vehicle technology in the transportation field, promoting the intelligent and efficient development of highway driving and lane-changing. Traditional non-cooperative games are primarily used to address the issue of strategy selection, where players do not consider forming alliances with other players or distributing profits, but simply choose a strategy from the strategy set that is beneficial to themselves. In contrast, cooperative games do not focus on the specific strategy selection of players but rather enable all players to form a large alliance in a cooperative manner, maximizing total profits and then fairly and reasonably distributing the obtained benefits to each player.