The invention relates to the technical field of automatic driving, in particular to a lane changing decision method and device, a vehicle and a storage medium, and the method comprises the following steps: obtaining environment information around the vehicle; planning one or more lane changing tracks of the vehicle according to the environmental information, extracting target features in the environmental information, inputting the target features and the one or more lane changing tracks into a decision model obtained by pre-training, and outputting an optimal lane changing track in the one or more lane changing tracks; and controlling the vehicle to execute the lane changing action by utilizing the optimal lane changing track. Therefore, the problems of poor safety, high efficiency and the like during automatic driving lane changing in related technologies are solved.

    本申请涉及自动驾驶技术领域,特别涉及一种变道决策方法、装置、车辆及存储介质,其中,方法包括以下步骤:获取车辆周围的环境信息;根据环境信息规划车辆的一个或多个变道轨迹,并提取环境信息中的目标特征,将目标特征和一个或多个变道轨迹输入预先训练得到的决策模型,输出一个或多个变道轨迹中的最佳变道轨迹;利用最佳变道轨迹控制车辆执行变道动作。由此,解决了相关技术中自动驾驶变道时,安全性和高效性较差等问题。


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    Title :

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


    Additional title:

    变道决策方法、装置、车辆及存储介质


    Contributors:
    PAN QILONG (author) / KONG ZHOUWEI (author) / QIU LIHONG (author) / MA CHENXIANG (author)

    Publication date :

    2023-02-24


    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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