Lane changing decision-making method for networked autonomous vehicle based on risk potential field

The invention discloses a networked autonomous vehicle lane change decision method based on a risk potential field, belongs to the technical field of vehicle lane change, is used for lane change decision under networked vehicles, and comprises the following steps: judging whether a vehicle generates a lane change intention or not, and establishing a risk potential field model; and judging the minimum safe lane changing distance between the vehicle TV and the front vehicle FV of the same lane, judging the minimum safe lane changing distance between the vehicle TV and the rear vehicle RV of the target lane, and generating a lane changing decision result. According to the method, risks faced by vehicles in different motion states are reflected through the potential field intensity, and a foundation is laid for safe driving of networked autonomous vehicles; the distance between the vehicles is corrected, so that the size of the safe distance required by the vehicles in different motion states during lane changing