Abstract
Heavy vehicles play an important role in the freight transportation networks, but they are often plagued by Traffic accidents due to their dynamic characteristics. Autonomous driving technology is considered promising to improve vehicle driving safety. This work proposes a hierarchical probabilistic lane-changing decision-making framework integrating decision-making and control modules, addressing the stability concerns of heavy vehicles. An improved risk assessment method is proposed, utilizing risk field intensity indicators that consider the characteristics of heavy vehicles. Experiments show that the proposed method can effectively improve driving safety and stability during lane changing.
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