Game Algorithm of Intelligent Driving Vehicle Based on Left-Turn Scene of Crossroad Traffic Flow

Table 1

Dangerous scenes at crossroads.

	Liangche		Sanche
	Same road car	Different cars	Same road car	Different cars
The main car goes straight	Cut out the front car	Other obstacle cars cut in, and the main car goes straight	Cut out the front car	In the other direction, two obstacle cars follow, and the main car politely or passes through
	Distant pursuit	Other obstacle cars go straight or turn, and the main car goes straight		The main car follows the car from a long distance, and other directions interfere with the car passing through
	Front emergency stop			The main car and the interfering car are in two different lanes, and the main car goes straight
Main steering	The car goes straight ahead, and the main car turns	The main car turns, and the other obstacle cars go straight and turn		The front car goes straight, the main car turns, and other obstacles go straight or turn
	The front car turns with the main car	After the main vehicle turns, the vehicle in front of the lane moves slowly		The main car and the two obstacle cars have two different lanes, and the main car turns