The invention relates to the technical field of unmanned driving, and discloses a lane changing decision method and device, electronic equipment and a storage medium, and the method comprises the steps: for each candidate lane, determining first key obstacle information affecting the lane changing of a vehicle to a candidate lane based on a predicted driving track; based on the predicted driving track of the reference obstacle of the preset intention, determining second key obstacle information influencing lane change of the vehicle to a candidate lane; based on the principle that the interaction distance is closest, the information of obstacles with the closest interaction distance is reserved, and the information of the obstacles with the closest interaction distance of different candidate lanes forms a first feature obstacle information set; determining a second feature obstacle information set based on the passable distance of the own vehicle in the current lane and the lane changing distance required for changing the lane to a candidate lane; and determining a target lane for lane changing according to the feature obstacle information set in combination with the utility function. According to the invention, the rationality and flexibility of lane changing decision are improved.

    本公开涉及无人驾驶技术领域,公开了一种换道决策方法、装置、电子设备和存储介质,该方法包括:针对每条候选车道,基于预测行驶轨迹确定影响自车换道至一候选车道的第一关键障碍物信息;以及,基于预设意图的参考障碍物的预测行驶轨迹确定影响自车换道至一候选车道的第二关键障碍物信息;基于交互距离最近的原则保留交互距离最近的障碍物信息,不同候选车道的交互距离最近的障碍物信息组成第一特征障碍物信息集合,基于自车在当前所在车道内的可通行距离以及换道至一候选车道所需的换道距离确定第二特征障碍物信息集合;根据特征障碍物信息集合结合效用函数确定用于换道的目标车道。本公开提高了换道决策的合理性和灵活性。


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    Title :

    Lane changing decision-making method and device, electronic equipment and storage medium


    Additional title:

    换道决策方法、装置、电子设备和存储介质


    Contributors:
    ZHANG YICHI (author) / CAI QISHENG (author)

    Publication date :

    2024-03-26


    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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