The invention provides a lane selection method and device, electronic equipment and a storage medium. The method comprises the steps: forwards exploring to an intersection according to the drivable directions of added lanes, and recording the drivable direction of each added lane; determining a target driving direction of a vehicle at the intersection based on the planned route of the vehicle; andsolving an intersection of the drivable direction of each added lane and the target driving direction, and if the intersection is not empty, selecting the added lane corresponding to the smallest vehicle change angle in the intersection as a planned lane. According to the scheme, the problem that the safety is low during existing lane planning is solved, the lane changing frequency of the vehiclein path planning can be reduced, and safe driving of the vehicle is guaranteed.
本发明提供一种车道选择方法、装置、电子设备及存储介质,该方法包括:根据增加车道可行驶方向向前探索至路口,记录每条增加车道可行驶方向;基于车辆的规划路线确定路口处的车辆的目标行驶方向;求取每条增加车道可行驶方向与目标行驶方向的交集,若交集不为空,则选取交集中车辆变化角度最小对应的增加车道作为规划车道。通过该方案解决了现有车道规划时安全性较低的问题,可以减少路径规划中车辆的变道次数,保障车辆的安全行驶。
Lane selection method and device, electronic equipment and storage medium
一种车道选择方法、装置、电子设备及存储介质
2020-11-17
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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