Investigation of Lane-changing Decision-making Models for Autonomous Vehicles

As a promising method to improve traffic safety, mobility and environmental impacts, autonomous vehicles will inevitably be the future of transportation. Both car following (CF) and lane changing (LC) are the most basic and frequent maneuver in autonomous driving, and therefore become two key issues to focus on in recent researches about autonomous vehicle (AV) in which, lane changing modeling is even more complex and difficult as it involves more factors, such as microscopic behaviors of surrounding vehicles and traffic states of lanes. This paper introduces the whole process of lane changing of autonomous vehicles and focuses on decision making module for the sake of its great significance. An investigation on lane-changing decision-making models and algorithms is provided in this paper.