The invention discloses a method for establishing an automatic driving lane changing
decision model in a
hybrid driving environment, a multi-step dynamic game lane changing model of an automatic driving vehicle LV and a human driving vehicle RV in the
hybrid driving environment are established, and a set of nested game
algorithm for the automatic driving vehicle is designed. The method comprises the following steps: firstly, establishing a multi-step dynamic game framework; enabling the vehicles of the two parties to decide the following action according to the
strategy selection of the otherparty; defining
potential conflict points of the lane changing vehicles and the rear vehicles of the target lane; formulating starting and ending condition criteria of the game according to the initial information of the vehicle, the strategy and the game
step number; and then enabling the two vehicles to use respective strategy and acceleration selection methods to carry out dynamic gaming untilthe lane changing termination condition is met, so that under the condition that the automatic driving vehicle does not meet the condition of direct lane changing, the lane changing space can also bemanufactured through the game playing with the human driving vehicle, and safe lane changing is achieved.