MINIMUM RISK DECISION SYSTEM AND METHOD FOR LANE-CHANGING AND NON-TRANSITORY COMPUTER READABLE MEDIA

A minimum risk decision system for lane-changing includes at least one processor. The processor includes an external risk region calculating module, a system failure judging module, a self-driving starting condition confirming module, and a decision module. The external risk region calculating module calculates an external risk region. The system failure judging module judges whether a system fails. The self-driving starting condition confirming module confirms whether a self-driving starting condition is satisfied. The decision module includes a judging unit, a horizontal vector calculating unit, a drivable space calculating unit, and a decision executing unit. The judging unit judges whether the host vehicle encounters any one of an external risk, a system failure risk and a self-driving starting condition unsatisfied risk. The decision executing unit executes a minimum risk decision as encountering any one of the external risk, the system failure risk and the self-driving starting condition unsatisfied risk.