The invention discloses a vehicle lane changing decision method and device and a storage medium, and the method comprises the steps: constructing a plurality of groups of drivable lane sequences of a target vehicle based on a current lane where the target vehicle is located and adjacent lanes of the current lane; each drivable lane sequence comprises a current lane and a target lane, and the target lane is one of the current lane and an adjacent lane; for each group of drivable lane sequences, trajectory planning is carried out based on first driving data of the target vehicle in the drivable lane sequences and second driving data of the target obstacle, and a lane changing trajectory corresponding to lane changing of the target vehicle from the current lane to the target lane in a future preset time period is determined; and at least based on the safety characterization data and the comfort characterization data of each lane changing track, selecting a target lane changing track meeting a preset requirement from each lane changing track. In this way, a more reasonable lane changing track can be selected from multiple lane changing tracks.

    本申请公开了一种车辆的变道决策方法、设备和存储介质,该方法包括:基于目标车辆所处的当前车道和当前车道的相邻车道,构造目标车辆的多组可行驶车道序列;各可行驶车道序列中包含当前车道和目标车道,目标车道为当前车道和相邻车道中的一者;对于各组可行驶车道序列,基于可行驶车道序列中目标车辆的第一行驶数据、以及目标障碍物的第二行驶数据进行轨迹规划,确定在未来预设时间段目标车辆从当前车道向目标车道变道对应的变道轨迹;至少基于各变道轨迹的安全性表征数据和舒适性表征数据,从各变道轨迹中,选取满足预设要求的目标变道轨迹。通过上述方式,本申请能够从多种变道轨迹中选出更为合理的变道轨迹。


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    Title :

    Lane changing decision-making method and device of vehicle and storage medium


    Additional title:

    车辆的变道决策方法、设备和存储介质


    Contributors:
    XIU HAILIN (author) / WANG YAONONG (author) / YU WEI (author)

    Publication date :

    2024-04-09


    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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