The invention discloses a lane changing decision method and device and a storage medium, and relates to the technical field of automatic driving. The method can be applied to the fields of intelligent automobiles, new energy automobiles and the like, and comprises: on a first lane on which a target vehicle is located, when a first obstacle exists in front of the target vehicle, acquiring longitudinal driving information of the target vehicle (201); lane changing is carried out under the condition that the longitudinal driving information meets preset lane changing conditions, the preset lane changing conditions include that the first relative speed is smaller than zero and the second relative speed is smaller than zero, and the first relative speed is the relative speed between the first speed and a set first expected speed; the second relative speed is a relative speed (202) between the first speed and the second desired speed. According to the method, the intelligent automobile can fully and intuitively reflect the intention and preference of the user on the basis of meeting the safety, personalized setting of the lane changing frequency is realized, and the lane changing decision performance is improved.

    一种换道决策方法、装置及存储介质,涉及自动驾驶技术领域。该方法可应用于智能汽车、新能源汽车等领域,包括:在目标车辆所在的第一车道上,当目标车辆前方存在第一障碍物时,获取目标车辆的纵向行驶信息(201);在纵向行驶信息满足预设换道条件的情况下进行换道,预设换道条件包括第一相对速度小于零且第二相对速度小于零,第一相对速度为第一速度与设置的第一期望速度之间的相对速度,第二相对速度为第一速度与第二期望速度之间的相对速度(202)。该方法可以使得智能汽车在满足安全性的基础上,充分且直观地反映用户的意图和偏好,实现对换道频率的个性化设定,提高了换道决策的性能。


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    Title :

    Lane change decision-making method and device and storage medium


    Additional title:

    换道决策方法、装置及存储介质


    Contributors:
    LIANG YIXIAO (author) / LIU DONGHAO (author) / LUO JIE (author) / ZHANG YONGSHENG (author)

    Publication date :

    2024-02-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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