Abstract: In order to improve the efficiency of expressway operation and reduce traffic congestion and traffic accidents, the traditional MOBIL decision-making model of autonomous lane change was improved. In the environment of networked autopilot, considering the different influence degree of vehicle lane changing on the braking of multiple rear vehicles in the original lane and the target lane, the weight factor expression was constructed. The numerical simulation experiment was carried out by using MATLAB software, and the weighted MOBIL decision-making model was compared with the traditional model through qualitative and quantitative analysis. The experimental results show that the weighted MOBIL lane-changing decision-making model can improve the average speed of traffic flow, reduce delay and reduce the overall braking range, compared with the traditional lane-changing model. Therefore, the proposed improved weighted MOBIL autonomous lane-changing decision-making model can improve the operational efficiency and safety of traffic flow.

Key words: traffic and transportation engineering, networked autopilot, lane-changing model, minimizing overall braking induced by lane changes (MOBIL) model, weighting factor

摘要： 为了提高高速公路运行效率，减少交通拥堵和交通事故的发生，改进了传统的MOBIL自主性换道决策模型。在网联自动驾驶的环境中考虑车辆换道后对原车道与目标车道多辆后随车制动影响程度的不同，构建权重因子表达式。利用MATLAB软件进行数值仿真实验，通过定性与定量分析将提出的加权MOBIL自主性换道决策模型与传统模型进行比较。实验结果表明：与传统换道模型相比，加权MOBIL换道决策模型能提高交通流的平均速度，减少延误以及减少整体的制动幅度。因此，提出的改进加权MOBIL自主性换道决策模型能提高交通流的运行效率以及安全性。

关键词: 交通运输工程, 网联自动驾驶, 换道模型, MOBIL模型, 权重因子