![](bg7.png)
Table 4: Pattern 3.
DL final start start SD travel travel SD
(a) 0.00 22.06 201.93 132.63 540.95 156.00
(b) 0.00 18.72 214.10 145.07 505.95 152.54
(c) 0.00 19.42 205.00 135.38 516.29 168.58
• produces a short travel time for each agent
In this paper, we put the assumption that all agents
are cooperative and follow the protocol. It is be-
cause our target is an autonomous driving environ-
ment, which is considered to be an advanced form of
the automated highway systems. However, it is inter-
esting to simulate the case in which some agents do
not follow the protocol as a more realistic situation.
Moreover, we plan to extend the model to cover
the following cases:
• more than two lanes
• multiple sectors
• sudden arrival of a vehicle from a structure beside
the road
From the theoretical point of view, we are consid-
ering a more refined model of lane changing based on
the inner state of agents. The inner state of agents can
be suitably modeled using the Belief-Desire-Intention
(BDI) model (Wooldridge, 2000). The environment
perceivedby an agent and messages sent by the neigh-
boring agents are regarded as beliefs of an agent, the
request conveyed earlier is regarded as a desire, and
the request just before taking the action is considered
an intention. In this way, we hope to create a more
refined model and simulate the agent behaviors from
another perspective.
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