The invention relates to an automatic driving lane changing decision-making method and device and a storage medium, and the method comprises the steps: obtaining the position information of a vehicle and the road information of a current navigation task, constructing five lanes, and taking the reference line of each lane as the center line of the lane; determining the behavior intention of the vehicle according to the obstacle information, the position information of the vehicle and the road information of the current navigation task; determining whether to perform lane changing cost calculation according to the behavior intention of the vehicle, and selecting a reference line of a lane with the minimum lane changing cost value as a target reference line; when the target reference line is the current lane, judging that the vehicle keeps the current transverse action; when the target reference line is the reference line of other lanes, it is judged that lane changing is needed, the space between any two obstacles of the target reference line is calculated according to the obstacle information of the lane corresponding to the target reference line, and the space between the optimal two obstacles is determined as the lane changing space for lane changing. The decision-making efficiency and rationality of automatic driving lane changing can be improved.
本发明涉及一种自动驾驶换道决策方法及其装置、存储介质,包括:获取本车位置信息和当前导航任务的道路信息,构建五条车道,并且每条车道的参考线为其中心线;根据障碍物信息、本车位置信息以及当前导航任务的道路信息确定本车行为意图;根据本车行为意图确定是否进行换道代价计算,选择换道代价值最小的一条车道的参考线作为目标参考线;当目标参考线为当前车道时,判定本车保持当前横向动作;当目标参考线为其他车道的参考线时,判定需要换道,根据目标参考线对应的车道的障碍物信息计算目标参考线的任意两个障碍物之间的空间,确定最优的两个障碍物之间的空间作为换道空间进行换道,通过本发明,能够提高自动驾驶换道的决策效率和合理性。
Automatic driving lane changing decision-making method and device and storage medium
一种自动驾驶换道决策方法及其装置、存储介质
2024-05-21
Patent
Electronic Resource
Chinese
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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