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Therefore, this article proposes a new decision\u2010making and path\u2010planning framework, based on game theory, that considers the multistate future actions of surrounding vehicles. First, multistate future actions of neighboring vehicles, whose driving styles vary, are estimated and fed into a decision\u2010making module for risk assessment. Then, based on the Stackelberg game theory, the ego vehicle and the rear object vehicle are modeled as two players in the game, and their optimal decisions are obtained. In addition, the path\u2010planning model incorporates a potential\u2010field model that utilizes several potential functions to explain the varied styles and physical limitations of the surrounding vehicles. Finally, the trajectory of the ego vehicle is obtained through model predictive control that is based on the outputs of the decision\u2010making and constructed potential\u2010field models. The results of simulation experiments that used designed scenarios demonstrate that the proposed method effectively manages various social interactions and generates safe and appropriate trajectories for autonomous vehicles. In addition, the simulation results demonstrate that considering multistate trajectories caused the decision\u2010making and path\u2010planning modules to be appropriate for unpredictable environmental conditions.<\/jats:p>","DOI":"10.1002\/aisy.202300177","type":"journal-article","created":{"date-parts":[[2023,9,28]],"date-time":"2023-09-28T22:24:45Z","timestamp":1695939885000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Decision\u2010Making and Planning Methods for Autonomous Vehicles Based on Multistate Estimations and Game Theory"],"prefix":"10.1002","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-0501-450X","authenticated-orcid":false,"given":"Quan","family":"Yuan","sequence":"first","affiliation":[{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Research Center for New Energy &amp; Intelligent Connected Vehicle Wuhan University of Technology  Wuhan 430070 China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4402-8676","authenticated-orcid":false,"given":"Fuwu","family":"Yan","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Research Center for New Energy &amp; Intelligent Connected Vehicle Wuhan University of Technology  Wuhan 430070 China"}]},{"given":"Zhishuai","family":"Yin","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Research Center for New Energy &amp; Intelligent Connected Vehicle Wuhan University of Technology  Wuhan 430070 China"}]},{"given":"Lv","family":"Chen","sequence":"additional","affiliation":[{"name":"Director of the Automated Driving and Human-Machine System Group Nanyang Technological University  Singapore 639798 Singapore"}]},{"given":"Jie","family":"Hu","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Research Center for New Energy &amp; Intelligent Connected Vehicle Wuhan University of Technology  Wuhan 430070 China"}]},{"given":"Dongmei","family":"Wu","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology  Wuhan 430070 China"},{"name":"Hubei Research Center for New Energy &amp; Intelligent Connected Vehicle Wuhan University of Technology  Wuhan 430070 China"}]},{"given":"Yue","family":"Li","sequence":"additional","affiliation":[{"name":"Dongfeng Technology Center Dongfeng Yuexiang Technology Co., Ltd.  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