This paper presents an MFG-based decision-making framework for autonomous driving in heterogeneous traffic. To capture diverse human behaviors, we propose a quantitative driving style representation that maps abstract traits to parameters such as speed, safety factors, and reaction time. These parameters are embedded into the MFG through a spatial influence field model. To ensure safe operation in dense traffic, we introduce a safety-critical lane-changing algorithm that leverages dynamic safety margins, time-to-collision analysis, and multi-layered constraints. Real-world NGSIM data is employed for style calibration and empirical validation. Experimental results demonstrate zero collisions across six style combinations, two 15-vehicle scenarios, and NGSIM-based trials, consistently outperforming conventional game-theoretic baselines. Overall, our approach provides a scalable, interpretable, and behavior-aware planning framework for real-world autonomous driving applications.
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