Work zone navigation remains one of the most challenging manoeuvres for autonomous vehicles (AVs), where constrained geometries and unpredictable traffic patterns create a high-risk environment. Despite extensive research on AV trajectory planning, few studies address the decision-making required to navigate work zones safely. This paper proposes a novel game-theoretic framework for trajectory generation and control to enhance the safety of lane changes in a work zone environment. By modelling the lane change manoeuvre as a non-cooperative game between vehicles, we use a game-theoretic planner to generate trajectories that balance safety, progress, and traffic stability. The simulation results show that the proposed game-theoretic model reduces the frequency of conflicts by 35 percent and decreases the probability of high risk safety events compared to traditional vehicle behaviour planning models in safety-critical highway work-zone scenarios.

翻译：施工区域导航仍然是自主车辆面临的最具挑战性的操作之一，受限的几何结构和不可预测的交通模式在此环境中构成高风险。尽管已有大量关于自主车辆轨迹规划的研究，但鲜有研究涉及安全通过施工区域所需的决策制定。本文提出一种新颖的基于博弈论的轨迹生成与控制框架，旨在提升施工区域环境下车道变更的安全性。通过将车道变更操作建模为车辆间的非合作博弈，我们利用博弈论规划器生成能够平衡安全性、行进效率与交通稳定性的轨迹。仿真结果表明，与传统车辆行为规划模型相比，在安全关键的高速公路施工场景中，所提出的博弈论模型将冲突频率降低了35%，并降低了高风险安全事件的发生概率。