Decision - making of Lane Change Behavior Based on RCS for Automated Vehicles in the Real Environment

摘要

This paper proposes the decision-making framework of lane change behavior based on Hierarchical State Machine (HSM) and we build distributed control system architecture based on RCS (Real-Time Control System) to test the model. Environment perception module, decision planning module and execution control module are put into the distributed system architecture based on RCS to improve real-time and ensure that several modules run simultaneously. Besides, the decision-making framework of lane change behavior consists of two parts: miniature scene information model and decision-making model of lane change behavior based on multi-attribute decision-making. The decision-making model of lane change behavior is based on HSM and it sets two top-level state machines: free lane change model and mandatory lane change model. Free lane change model changes the state by using lane reward model to judge and assess driving condition of each lane, while mandatory lane change model uses strategy of multi-source information fusion tojudge whether to lane change. In the end, the unmanned platform BYD Tang using vehicle embedded platform is used to verify the reliability and effectiveness of the lane change decision-making algorithm proposed in this paper in the real road environment.