How do lane-keeping autonomous vehicles avoid being bullied by unreasonably cut-in human-driven vehicles?

In the mixed driving environment, autonomous vehicles (AVs) in the adaptive cruise control state often face bullying behaviors such as unreasonably cut-in maneuvers of human-driven vehicles (HVs), which affects the normal driving of AVs. To enhance the ability of AVs to resist bullying and realize the safe, efficient and comfortable driving, this paper proposes a longitudinal speed planning framework based on game theory. Firstly, a non-cooperative game framework between AVs and HVs and a partial cooperative game framework between ego vehicle and other AVs are constructed. Secondly, considering the longitudinal and lateral manipulation characteristics and aggressiveness of human drivers, a more realistic HVs lane-changing game strategy is established based on location advantages, comfort and traffic efficiency factors. Thirdly, according to the factors of driving safety, ride comfort and traffic efficiency of drivers and passengers, the longitudinal speed planning strategy of AVs based on game theory is designed. Combined with the method of sampling and optimization, the longitudinal speed of ego vehicle and other AVs is solved in real time. Finally, human-in-the-loop experiments verify the effectiveness of the proposed game framework in the scenarios of HVs with different aggressiveness.