The invention provides a lane changing decision-making method and device, equipment and a storage medium. The lane changing decision-making method comprises the following steps: an obtaining step: obtaining vehicle information and vehicle information of a target lane; a first calculation step of calculating a first lane changing characteristic value based on the speed of the vehicle, the speed of the vehicle behind the target lane and the distance between the vehicle and the vehicle behind the target lane; a second calculation step of calculating a second lane changing characteristic value based on the speed of the vehicle, the speed of the front vehicle of the target lane and the distance between the vehicle and the front vehicle of the target lane; a third calculation step: calculating a third lane changing characteristic value based on the second lane changing characteristic value; and a decision-making step: deciding whether the lane change can be carried out according to whether the first lane change characteristic value is less than or equal to a preset first threshold value and whether the third lane change characteristic value is greater than or equal to a preset second threshold value.
本发明提供一种变道决策方法、装置、设备及存储介质。该变道决策方法包括:获取步骤,获取自车信息以及目标车道的车辆信息;第一计算步骤,基于自车速度、目标车道的后车速度、自车与目标车道的后车之间的距离计算第一变道特征值;第二计算步骤,基于自车速度、目标车道的前车速度、自车与目标车道的前车之间的距离计算第二变道特征值;第三计算步骤,基于第二变道特征值计算第三变道特征值;以及决策步骤,根据第一变道特征值是否小于等于预设的第一阈值并且第三变道特征值是否大于等于预设的第二阈值决策是否能进行变道。
Lane changing decision-making method, device and equipment and storage medium
变道决策方法、装置、设备及存储介质
2024-06-04
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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