Dynamic behavior decision-making method for autonomous vehicle in networked environment

The invention discloses a dynamic behavior decision-making method for an autonomous vehicle in a networked environment. The method includes: step one, acquiring ambient environment information by a surrounding road user in a V2X network connection environment of an own vehicle; with the center of mass of the own vehicle as the center, carrying out regional division at different radiuses and predicting a risk area; step two, carrying out first-stage behavior decision making based on the ambient environment information of the surrounding road user and the predicted risk area, and determining anavailable feasible action set for ensuring the own vehicle driving safety; and S3, carrying out second-stage behavior decision making; to be specific, selecting a finally performed action preferably from the available feasible action set with consideration of the non-safety constraint conditions, and carrying out driving behavior decision making.