The invention discloses a vehicle end lane changing decision-making method and device, a vehicle and a storage medium, and the method comprises the steps: dividing a foresight lane into a plurality of virtual channels based on the attribute information of a sensing target and a preset foresight lane line coefficient under the condition that the sensing target is determined to be an effective static obstacle; wherein different virtual channels correspond to different identifiers respectively; determining whether the sensing target and the vehicle are in the same virtual channel based on the identifier of the virtual channel where the sensing target is located and the identifier of the virtual channel where the vehicle is located; under the condition that it is determined that the sensing target and the vehicle are located on the same virtual channel, the transverse distance between the sensing target and a near virtual channel line is determined based on the transverse and longitudinal distance of the sensing target and the forward-looking lane line coefficient; and determining driving measures to be taken by the vehicle based on the transverse distance and a preset safety distance.

    本发明公开了一种车端换道决策方法、装置、车辆及存储介质,该方法包括:在确定传感目标为有效静态障碍物的情况下,基于传感目标的属性信息和预设的前视车道线系数将前视车道划分为多个虚拟通道;其中,不同的虚拟通道分别对应不同的标识;基于传感目标所在虚拟通道的标识与本车所在虚拟通道的标识确定传感目标与本车是否在同一个虚拟通道;在确定传感目标与本车在同一个虚拟通道的情况下,基于传感目标的横纵向距离和前视车道线系数,确定传感目标距离临近虚拟通道线的横向距离;基于横向距离和预设的安全距离,确定本车将要采取的行车措施。


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    Title :

    Vehicle end lane changing decision-making method and device, vehicle and storage medium


    Additional title:

    一种车端换道决策方法、装置、车辆及存储介质


    Contributors:
    XU RONG (author) / WU WENJUAN (author) / DU KAI (author) / WEN TAO (author)

    Publication date :

    2024-07-02


    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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