关键词: 自动驾驶车辆；模糊逻辑；决策系统；换道模型

Abstract: In the process of autonomous driving, the autonomous driving decision-making system can extract useful information about the target vehicle according to the environmental object target and predict the movement trend of the surrounding vehicles in the traffic scene, so as to avoid the dangerous scene and make the best decision to ensure the accuracy and detail of the decision-making lane changing system. This paper applies fuzzy logic to the automatic driving lane change function in commercial vehicles. The environment perception system, as the input system of the decisionmaking system, uses radar, visual camera, navigation and positioning to provide the information of the vehicle and the environment for the decision-making system. The decision-making system extracts useful information for the vehicle from the obtained signals, makes reasonable prediction of the movement trend of the target vehicle, and takes the predicted distance between the target vehicle and this vehicle as the input variable of the fuzzy logic system. Lane change probability is taken as output variable. The fuzzy rules are formulated, and a vehicle lane change model based on fuzzy logic is established. After the decision, the signal and action instruction are transmitted to the main control system to control the vehicle for lane change, and these processes do not require the operation of the driver, improve the safety of the vehicle and the comfort of the user and the level of intelligence.

Key words: Self-driving vehicles; Fuzzy logic; Decision-making system; Lane change model