Automatic driving vehicle lane changing decision-making method based on multi-index evaluation

The invention discloses an automatic driving vehicle lane change decision method based on multi-index evaluation. The method comprises a vehicle driving information acquisition unit, a lane change comprehensive evaluation index unit, a lane change mode selection unit and a lane change decision execution unit. The vehicle driving information acquisition unit is used for acquiring vehicle lane changing duration, longitudinal lateral speed and acceleration in the vehicle driving process and center-of-mass position coordinates of the vehicle under a global coordinate system, and calculating a position evaluation factor of the vehicle relative to a road boundary line; the lane changing comprehensive evaluation index unit is used for calculating a sideslip risk evaluation factor, a rollover risk evaluation factor, a lane changing trajectory tracking error evaluation factor, a lane changing efficiency evaluation factor and a lane changing comprehensive evaluation index; the lane changing mode selection unit comprise