The invention provides a lane changing decision method, device and equipment and a readable storage medium, and the method comprises the steps: obtaining the driving parameter information of a target vehicle, the driving parameter information of a vehicle to be subjected to lane changing, and the environment information of a road where the vehicle to be subjected to lane changing is located, and enabling the target vehicle to be a vehicle affecting the lane changing decision of the vehicle to be subjected to lane changing; predicting a driving track of the target vehicle based on the driving parameter information of the target vehicle; establishing a driving risk assessment model based on the target vehicle driving track, the driving parameter information of the to-be-lane-changed vehicle and the environment information of the road where the to-be-lane-changed vehicle is located; calculating a driving risk value of the vehicle to be lane-changed based on the driving risk evaluation model; and if the driving risk value is smaller than a preset safety threshold value, outputting prompt information that the lane changing condition is met to the vehicle waiting for lane changing. According to the invention, conflicts between the planned trajectory of the vehicle lane changing decision and other vehicle trajectories can be reduced, and the driving safety of the vehicle is improved.

    本发明提供一种换道决策方法、装置、设备及可读存储介质,换道决策方法包括:获取目标车辆的驾驶参数信息、待换道车辆的驾驶参数信息以及待换道车辆所处的道路环境信息,其中,所述目标车辆为影响待换道车辆换道决策的车辆;基于所述目标车辆的驾驶参数信息,预测得到目标车辆行驶轨迹;基于所述目标车辆行驶轨迹、待换道车辆的驾驶参数信息以及待换道车辆所处的道路环境信息建立驾驶风险评估模型;基于所述驾驶风险评估模型计算得到所述待换道车辆的驾驶风险值;若所述驾驶风险值小于预设安全阈值,则向待换道车辆输出换道条件满足的提示信息。通过本发明可减少车辆换道决策的规划轨迹与其他车辆轨迹产生冲突的情况出现,提高车辆行车的安全性。


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    Titel :

    Lane changing decision-making method, device and equipment and readable storage medium


    Weitere Titelangaben:

    换道决策方法、装置、设备及可读存储介质


    Beteiligte:
    QIAO MIAOMIAO (Autor:in) / YIN ZHENG (Autor:in) / WANG RONGRONG (Autor:in) / FU YUANYI (Autor:in) / XIA RANFEI (Autor:in) / GUAN JIE (Autor:in)

    Erscheinungsdatum :

    2022-11-25


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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