The invention provides a vehicle lane merging method and device, electronic equipment and a storage medium, and the method comprises the steps: carrying out the state transition processing of first current state data of a vehicle based on a candidate behavior set, and obtaining a first prediction state data set of the vehicle at each prediction moment; based on the second current state data, obtaining second prediction state data of the other vehicle at each prediction moment and the confidence degree of the other vehicle driving on each candidate road in the candidate road set; according to the first prediction state data set and the second prediction state data, feedback data of each candidate behavior in the behavior set at each prediction moment is determined; determining a lane merging state data sequence of the own vehicle according to the state transition probability of each candidate behavior at each prediction moment, the feedback data of the candidate behaviors and the confidence coefficient of the other vehicle driving on each candidate road in the candidate road set; and controlling self-vehicle lane merging based on the target state data in the lane merging state data sequence. According to the invention, a reasonable lane merging path can be planned.
本申请提供一种车辆并道方法、装置、电子设备及存储介质,通过基于候选行为集对自车的第一当前状态数据进行状态转移处理,得到在每个预测时刻时自车的第一预测状态数据集;基于第二当前状态数据得到在每个预测时刻时他车的第二预测状态数据以及他车行驶于候选道路集中每条候选道路的置信度;根据第一预测状态数据集和第二预测状态数据,确定在每个预测时刻时候选行为集中每个候选行为的反馈数据;根据在每个预测时刻时每个候选行为的状态转移概率、候选行为的反馈数据以及他车行驶于候选道路集中每条候选道路的置信度,确定自车的并道状态数据序列;基于并道状态数据序列中的目标状态数据控制自车并道。本申请可以规划出合理的并道路径。
Vehicle lane merging method and device, electronic equipment and storage medium
一种车辆并道方法、装置、电子设备及存储介质
2024-04-26
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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