I conduct the lane changing decision-making model based on stackelberg game for autonomou vehicles. However, the stackelberg game is bi-level optimal problem show as below appedix file and how to attain the stackelberg equilibrium solution that distorb me for a long time. I use SQP methond in MATLAB to get the stackelberg game optimal, but the results is terribled. Can I use SQP methon to get the soluton? And could you please indict the thinking for solve for me to solve. Thank you very much.