The invention relates to an automatic lane changing method and device, electronic equipment, a storage medium and a program product. The method comprises the following steps: acquiring current cloud information, current road end information and current vehicle motion time sequence information, establishing a relationship among the three kinds of information based on an encoder of a Transformer and a decoder of the Transformer, determining a comprehensive vector of a plurality of target vehicles at the current moment based on the relationship, and inputting the comprehensive vectors of the plurality of target vehicles at the current moment into a preset GAT neural network to obtain a node feature vector of the current vehicle, matching a lane changing strategy of the current vehicle according to the node feature vector of the current vehicle, and controlling the current vehicle to execute a lane changing action according to the current lane changing strategy. Therefore, the node feature vector of the vehicle is obtained through GAT network iterative calculation, and a corresponding lane changing strategy is matched for the node feature vector, so that the vehicle can give a response strategy in time when facing an emergency road condition, and potential safety hazards in the driving process are eliminated.

    本发明涉及一种自动换道方法、装置、电子设备、存储介质及程序产品。方法包括:获取当前云端信息、当前路端信息和当前车辆运动时序信息,基于Transformer的编码器和Transformer的解码器建立三种信息之间的关系,再基于该关系确定多个目标车辆在当前时刻的综合向量,并将多个目标车辆在当前时刻的综合向量输入至预设的GAT神经网络,得到当前车辆的节点特征向量,根据当前车辆的节点特征向量匹配当前车辆的换道策略,并根据当前换道策略控制当前车辆执行换道动作。由此,通过GAT网络迭代计算得出车辆的节点特征向量为其匹配相应的换道策略,使车辆能在面对紧急路况及时给出响应策略,从而消除行驶过程中的安全隐患。


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    Title :

    Automatic lane changing method and device, electronic equipment, storage medium and program product


    Additional title:

    自动换道方法、装置、电子设备、存储介质及程序产品


    Contributors:
    LI BIN (author) / HUANG BO (author) / DENG BO (author) / SU CHONG (author)

    Publication date :

    2024-06-25


    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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