The embodiment of the invention discloses a vehicle lane changing decision-making method and device, electronic equipment and a storage medium. The method comprises the steps that an environment scene where an unmanned vehicle is located is obtained; determining a driving strategy according to the environment scene and the lane changing code of each preset influence factor; determining a utility coefficient according to the driving strategy; obtaining the feature effectiveness of the preset influence factor; determining total lane changing effectiveness according to the effectiveness coefficient and the characteristic effectiveness; and according to the lane changing behavior, determining the maximum value of the total lane changing utility, and determining the lane changing behavior corresponding to the maximum value as the current lane changing decision of the unmanned vehicle. According to the vehicle lane changing decision, the problem that rules conflict or an algorithm is difficult to cover in a complex scene is solved, the scheme that the code combination of the lane changing codes of the preset influence factors is associated with the environment scene is designed, the expectation of different scenes for lane changing decision behaviors is efficiently reflected, and extension and customized development are easy.
本公开实施例公开了一种车辆换道决策方法、装置、电子设备和存储介质,该方法包括:获取无人驾驶车辆所处的环境场景;根据环境场景和各预设影响因素的换道编码,确定行驶策略;根据所述行驶策略,确定效用系数;获取预设影响因素的特征效用;根据效用系数和特征效用确定换道总效用;根据换道行为,确定换道总效用的最大值,将所述最大值对应的换道行为确定为无人驾驶车辆的当前换道决策。本公开实施例的车辆换道决策解决了复杂场景下规则冲突或算法难以覆盖的问题,设计了预设影响因素的换道编码的编码组合关联环境场景的方案,高效地体现不同场景对换道决策行为的期望,易于扩展和定制化开发。
Vehicle lane changing decision-making method and device, electronic equipment and storage medium
车辆换道决策方法、装置、电子设备和存储介质
2023-05-23
Patent
Elektronische Ressource
Chinesisch
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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