The invention provides a lane changing interval generation method and device, computer equipment and a storage medium, and the method comprises the steps: determining a target lane to which a target vehicle needs to change and a road branching point from a pre-planned navigation route based on the position of the target vehicle, the road branching point is a starting position where the target vehicle cannot change lanes to a target lane; determining a safe lane changing position at least based on a preset safe lane changing distance and the road branching point; determining a latest lane changing position at least based on a preset shortest lane changing distance and the road branching point; and generating a lane changing interval by taking the safe lane changing position as a starting point and the latest lane changing position as an end point. According to the method, the lane changing interval suggested to change the lane is determined before lane changing, so that the target vehicle can decide a proper lane changing opportunity according to the lane changing interval, the risk that the vehicle fails to change the lane is reduced, and potential safety hazards brought to an automatic driving vehicle due to the fact that the lane changing distance is too short are reduced.
本说明书提供了一种变道区间生成方法、装置、计算机设备及存储介质,基于目标车辆所处位置,从预先规划的导航路线中,确定所述目标车辆需要变道至的目标车道和道路分歧点,所述道路分歧点为所述目标车辆无法变道至目标车道的开始位置;至少基于预设的安全变道距离和所述道路分歧点,确定安全变道位置;至少基于预设的最短变道距离和所述道路分歧点,确定最晚变道位置;将所述安全变道位置作为起点,所述最晚变道位置作为终点,生成变道区间。在变道前确定了建议变道的变道区间,以使得目标车辆可以根据变道区间来决策合适的变道时机,从而降低了车辆变道失败的风险,减少了因为变道距离过短给自动驾驶车辆带来的安全隐患。
Lane changing interval generation method and device, computer equipment and storage medium
一种变道区间生成方法、装置、计算机设备及存储介质
2023-06-02
Patent
Electronic Resource
Chinese
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