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

图 6 情景4的车辆行驶状态及风险感知值分布

Fig.6 Vehicle driving status and risk perception values in scenario four