Automatic driving decision-making method for semi-trailer

The invention discloses an automatic driving decision-making method for a semi-trailer, and the method comprises the steps: obtaining the current motion state of the semi-trailer, and predicting the whole motion state space of the semi-trailer based on the dynamic characteristics of the semi-trailer and the current motion state; reducing the range of the whole motion state space based on surrounding traffic environment information; calculating the driving performance of the semi-trailer; and preferably selecting a future motion state as a future driving target of the semi-trailer in the whole motion state space based on the driving performance. Modeling is carried out on the semi-trailer in motion prediction, motion stability analysis and driving performance analysis, the applicability of the strategy model to the semi-trailer is guaranteed, and discontinuity of multi-target decision results is effectively avoided by reducing target motion state space layer by layer. And meanwhile, the dependence on the perfo