摘要：With the technical support of an intelligent networking environment, autonomous driving technology is facing a new stage of development, and the decision-making behavior of autonomous vehicles is changing fundamentally, so it is urgent to explore the lane-changing decision-making behavior mechanism of autonomous driving. Firstly, through the analysis of system similarity, the similarity between autonomous vehicles and moving molecules is sought, and the attraction and repulsion between molecules are applied to the lane-changing process of vehicles to effectively recognize the traffic scene of lane-changing vehicles. Secondly, the molecular interaction potential is introduced to unify the attraction and repulsion, and explore the dynamic influencing factors of lane-changing behavior for vehicles. Moreover, we systematically analyze the interaction relationship in the lane-changing process of Connected and Automated Vehicles, and establish the molecular interaction potential lane-changing model to explore the lane-changing decision-making behavior mechanism. Furthermore, we study the impact of micro lane-changing behavior on macro traffic flow. Finally, the SL2015 lane-changing model and the molecular interaction potential lane-changing model are compared and analyzed by using the SUMO platform. The results show that the speed fluctuation of Connected and Automated Vehicles based on the molecular interaction potential lane-changing model is reduced by 15.5%, and the number of passed vehicles is increased by 3.26% on average, which has better safety, stability, and efficiency. The molecular interaction potential modeling of lane-changing decision-making behavior for Connected and Automated Vehicles comprehensively considers the interaction relationship of dynamic factors in the traffic environment, and scientifically shows the lane-changing decision-making mechanism of Connected and Automated Vehicles.
关键词：intelligent transportation; Connected and Automated Vehicles; traffic system model; molecular interaction potential; lane-changing decision-making behavior
