这篇论文提出了一个评估现实世界车辆交互中博弈论结构的框架，通过分析真实世界数据集，揭示了车辆交互中的时间结构和行为模式，为理解车辆交互提供了新的视角。
本文提出了一种基于轨迹的交互测量框架，用于识别交互事件并量化行为变化起始、时间组织、起始后的响应动力学和排序稳定性。该框架使用行为偏差来验证候选交互。在六个真实世界轨迹数据集上评估了该框架，包括INTERACTION、highD、inD、rounD、Waymo Open Motion和nuPlan，覆盖了不同的道路几何形状、交通环境和交互类型。结果显示，同时性和顺序性行为变化都构成了观察到的跟随、合并和冲突交互的很大一部分。在顺序交互中，稳定排序比交替排序更为普遍，表明持续的不对称角色是常见的交互结构。重要的是，时间优先级并不一定与可测量的行为响应相一致，表明仅时间排序可能不足以表征行为依赖。这些发现表明，现实世界的交互表现出同时性、顺序性和持续有序的时间结构。因此，不同的博弈论公式应被视为不同交互制度下的互补建模抽象，而不是作为统治所有车辆交互的普遍结构。
Choose Your Game Wisely: Measuring Game-Theoretic Structures in Real-World Vehicle Interactions
Game-theoretic models provide principled frameworks for modeling vehicle interactions, but their underlying temporal assumptions have not been systematically examined against real-world driving behavior. In particular, it remains unclear how simultaneous, sequential, and asymmetric interaction structures can be measured from vehicle trajectories. This paper develops a trajectory-based interaction measurement framework to identify interaction events and quantify behavioral change onset, temporal organization, post-onset response dynamics, and ordering stability. The framework uses behavioral deviations to verify candidate interactions. We evaluate the framework on six real-world trajectory datasets, including INTERACTION, highD, inD, rounD, Waymo Open Motion, and nuPlan, covering diverse road geometries, traffic environments, and interaction types. The results show that concurrent and sequential behavioral changes both constitute substantial proportions of observed following, merging, and conflicting interactions. Among sequential interactions, stable ordering is more prevalent than alternating ordering, indicating that persistent asymmetric roles are a common interaction structure. Importantly, temporal precedence does not necessarily coincide with a measurable behavioral response, indicating that temporal ordering alone may not be sufficient to characterize behavioral dependence. These findings show that real-world interactions exhibit concurrent, sequential, and persistently ordered temporal structures. Different game-theoretic formulations are therefore better regarded as complementary modeling abstractions for different interaction regimes rather than as a universal structure governing all vehicle interactions.