Comparisons with Existing Methods

To verify whether the proposed algorithm is reasonable and, furthermore, human-like, the algorithm is first compared with extant decision-making methodologies. In order to test the human-likeness, comparisons with researches that are proven to be human-like are conducted.
We compare our Bayesian game based approach with two widely accepted lane change decision-making methodologies: 1) IDM and MOBIL (metric 1a), which are the most frequently used method to imitate human driver's behavior as in Figure \ref{907317}; 2) Xuemin's \cite{Hu_2018} method (metric 1b) , which uses a generates multiple alternatives and chooses one based on the cost function as in Figure \ref{665197}.