The invention discloses a vehicle lane changing decision generation method and device, electronic equipment and a storage medium, and relates to the intelligent driving technology, and the method comprises the steps: determining at least one obstacle vehicle according to a current lane where an own vehicle is located and a target lane; determining a corresponding transverse decision set and a longitudinal decision set according to the driving data of each obstacle vehicle; and generating a plurality of lane changing decisions for the own vehicle according to the at least one transverse label and the at least one longitudinal label corresponding to each obstacle vehicle. According to the scheme, in a complex road environment, the optimal decision can be selected from a plurality of lane changing decisions according to actual vehicle conditions to generate the lane changing track, so that automatic lane changing of the vehicle is realized. According to the scheme provided by the embodiment of the invention, a complete option is provided for lane changing of the vehicle, the problem that the consideration factor of an existing mode of controlling the vehicle to change the lane according to the determined safe distance is relatively single is solved, and the beneficial effects of improving the lane changing safety and improving the lane changing efficiency are achieved.

    本发明公开了一种车辆变道决策生成方法、装置、电子设备及存储介质,涉及智能驾驶技术,该方法包括:根据自车车辆所在的当前车道和目标车道确定至少一个障碍车辆;根据每个障碍车辆的行驶数据确定对应的横向决策集和纵向决策集;根据每个障碍车辆对应的至少一个横向标签和至少一个纵向标签为自车车辆生成多个变道决策。通过本方案,在复杂道路环境中,可根据实际车况从多个变道决策中挑选出最优决策生成变道轨迹,供自车车辆实现自动变道。本实施例提供的方案,为自车车辆变道提供了完备的选项,解决了现有根据确定安全距离控制车辆进行变道的方式考虑因素较为单一的问题,取到了提升变道安全性,提升了变道高效性的有益效果。


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    Title :

    Vehicle lane changing decision generation method and device, electronic equipment and storage medium


    Additional title:

    车辆变道决策生成方法、装置、电子设备及存储介质


    Contributors:
    GU YONG (author) / YANG DONGFANG (author) / WANG YU (author) / WU NING (author) / PANG YUNTIAN (author) / XU XIAODONG (author) / WANG LONGHONG (author) / LI DONGHAI (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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