The invention discloses a lane changing decision-making method, device and equipment for an unmanned vehicle and a medium. The scheme relates to the field of unmanned driving. The method comprises the following steps: acquiring motion information of a vehicle and motion information of a target vehicle; wherein the target vehicle is a vehicle in a target lane, and the target lane is a lane to which the vehicle needs to be changed; determining a time headway between the target vehicle and the vehicle according to the motion information of the target vehicle and the motion information of the vehicle; determining a risk assessment result of the target vehicle according to the time headway between the target vehicle and the vehicle; according to the risk assessment result of the target vehicle and the current behavior state of the vehicle, the next behavior state of the vehicle is determined, and the behavior states comprise lane changing preparation, lane changing waiting, lane changing starting and lane changing ending. According to the technical scheme, the problems that a behavior decision model is low in lane changing success rate, poor in reliability and the like are solved, and lane changing safety can be guaranteed while the lane changing success rate of the unmanned vehicle is increased.
本发明公开了一种无人驾驶车辆的换道决策方法、装置、设备及介质。本方案涉及无人驾驶领域,该方法包括:获取本车运动信息以及目标车辆的运动信息;其中,所述目标车辆为目标车道中的车辆,所述目标车道为本车需要变换到的车道;根据目标车辆的运动信息以及本车运动信息,确定目标车辆与本车的车头时距;根据目标车辆与本车的车头时距,确定目标车辆的风险评估结果;根据目标车辆的风险评估结果以及本车的当前行为状态,确定本车的下一行为状态,所述行为状态包括准备换道、等待换道、开始换道以及结束换道。本技术方案解决了行为决策模型换道成功性低、可靠性差等问题,可以在提高无人驾驶车辆换道成功率的同时,保证换道安全性。
Lane changing decision-making method, device and equipment for unmanned vehicle and medium
一种无人驾驶车辆的换道决策方法、装置、设备及介质
03.01.2025
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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