The invention relates to the technical field of automatic driving, in particular to a lane changing decision-making method, device, equipment and medium, and the method comprises the steps: determining a first distance when a vehicle body begins to intrude into a target lane and a second distance when the vehicle body completely intrudes into the target lane, defining a space range of a lane changing process of the vehicle by the two distances, and determining a lane changing decision-making result based on the first distance and the second distance. According to the method, the boundary line of the GAP area is determined, so that the GAP area is determined more accurately, and the lane changing time and the window duration of the GAP area are determined based on the intersection point in a curve graph formed by the ST graph and the boundary line of the GAP area; and calculating the lane changing cost corresponding to each GAP area according to the lane changing time and the window duration corresponding to each GAP area so as to determine a lane changing decision. By comprehensively considering the specific space requirement of lane change of the vehicle and the dynamic environment of the target lane, an accurate space reference is provided for the subsequent determination of the lane change time and the window duration, so that the accuracy and the safety of a lane change decision are improved, and the success rate of lane change is greatly improved.
本申请涉及自动驾驶技术领域,尤其是涉及一种换道决策方法、装置、设备和介质,方法包括:确定了自车车身开始侵入目标车道时的第一距离和完全侵入时的第二距离,两个距离界定了自车换道过程的空间范围,基于第一距离和第二距离,确定GAP区域的边界线,使得GAP区域确定更加精准,进而基于ST图、GAP区域的边界线构成的曲线图中的交点,确定GAP区域的换道时间和窗口时长;根据每个GAP区域对应的换道时间和窗口时长,计算每个GAP区域对应的换道成本,以确定换道决策。通过综合考虑自车换道的具体空间需求与目标车道的动态环境,为后续的换道时间和窗口时长的确定提供了精确的空间参考,从而提高了换道决策的准确性和安全性,极大提高换道的成功率。
Lane changing decision-making method, device, equipment and medium
一种换道决策方法、装置、设备和介质
2025-01-07
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 |
Lane changing decision-making method, device, equipment, medium and vehicle
European Patent Office | 2023
|Unmanned vehicle lane changing decision-making method, device, equipment and medium
European Patent Office | 2024
|Lane changing decision-making method, device and equipment and storage medium
European Patent Office | 2024
|Lane changing decision-making method and device, electronic equipment and storage medium
European Patent Office | 2024
|LANE CHANGING DECISION-MAKING METHOD, DEVICE AND STORAGE MEDIUM
European Patent Office | 2025
|