基于风险预测的自动驾驶车辆行为决策模型
孙启鹏,武智刚,曹宁博,马飞,杜婷竺
Decision-making model of autonomous vehicle behavior based on risk prediction
Qi-peng SUN,Zhi-gang WU,Ning-bo CAO,Fei MA,Ting-zhu DU
表 1
模糊逻辑规则表
Tab.1
Fuzzy logic rule setting
$ R $
$ \Delta d $
$ \Delta t $
$ \Delta v $
PH
Z
NS
NS,S,M,H,PH
S
NS,S,M
H
P
NS
NS,S,M,H,PH
S
NS,S,M
Z
S
PH,H
M
NS,S,M
M
N
NS
NS,S,M,H,PH
S
NS,S,M
P
S
PH,H
M
NS,S,M
Z
M
PH,H
H
NS,S
S
N
S
PH,H
M
NS,S,M
P
M
PH,H
H
NS,S
Z
H
H,M
PH
NS,S,M
NS
N
M
PH,H
H
NS,S,M,H,PH
PH
NS,S,M,H,PH
P
H
PH,H,M
PH
NS,S,M,H,PH
Z
H
PH
PH
PH,H