Abstract: The autonomous driving of intelligent connected vehicles is divided into three parts: perception, planning and execution. Behavioral decision is one of the core technologies for the development of autonomous driving. In complex traffic intersections, it is difficult to predict the driving route of vehicles, so reasonable and safe driving behaviors can be designed by analyzing the condition statistics of vehicle behaviors at intersections. In this paper, the intelligent connected vehicle as the research object, so that the vehicle to the intersection lane change, turn, u-turn and other behaviors corresponding to the driving scene, can ensure the intelligent connected vehicle safe, reasonable driving in a certain range of control at the complex intersection. Driverless vehicles at the crossroads improve the driving efficiency and reduce operating costs, bring people more convenient and comfortable services, promote the intelligent connected vehicle more comprehensive development.

Key words: Intelligent connected vehicle; Driving decision; Intersections

摘要： 智能网联车的无人驾驶分为感知、规划、执行三个部分，行为决策是无人驾驶发展的 核心技术之一。在复杂的交通路口，车辆行驶路线难以预测，通过分析车辆在路口行为发生 条件统计，设计出合理和安全的驾驶行为。文章以智能网联车为研究对象，使车辆行驶到十 字路口的换道、转弯、调头等行为对应行驶场景，能够保证智能网联车安全、合理的在一定 可控范围下行驶在复杂的十字路口。无人驾驶车辆在十字路口的通行中提高了行驶效率和减 少了运营成本，带给人们更加便利和舒适的服务，推动智能网联车更全面的发展。

关键词: 智能网联车；行驶决策；十字路口