The invention discloses a lane changing method, device and equipment and a computer readable storage medium, and is applied to the field of intelligent driving, and the method comprises the steps: determining a target lane according to the driving information of a vehicle and surrounding obstacle vehicles; determining a lane changing space based on the obstacle vehicle position information of the target lane, and judging whether the lane changing distance of the lane changing space meets lane changing or not; and if not, performing a lane changing game based on the game speed and the game position, and changing the lane to the target lane when the game succeeds. Therefore, when the lane changing distance does not meet the lane changing requirement, lane changing is not directly quitted, and the game strategy is added. Thus, corresponding lane changing strategies are provided for the working condition with the small lane changing distance, the lane changing working condition is enriched, the lane changing function is more humanoid, and the richness and practicability of the lane changing function are improved; and the lane changing game with the target obstacle vehicle is performed based on the game speed and the game position, the calculation amount is small, the method is simple and rapid, the game action can be rapidly performed, and the delay of lane changing opportunity is avoided.

    本发明公开了一种换道方法、装置、设备及计算机可读存储介质,应用于智能驾驶领域,包括:根据自车与周边障碍车的行驶信息确定目标车道;基于目标车道的障碍车位置信息确定换道空间,并判断换道空间的换道距离是否满足换道;若不满足,则基于博弈速度和博弈位置进行换道博弈,当博弈成功时换道至目标车道。可见,本发明在换道距离不满足换道时,并不直接退出换道,而是增加了博弈策略。这样,对于换道距离小的工况,也有相应的换道策略,丰富了换道工况,使得换道功能更类人化,提升了换道功能的丰富性和实用性;并且基于博弈速度和博弈位置与目标障碍车进行换道博弈,计算量小,简单快捷,能够快速做出博弈动作,避免耽误换道时机。


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    Title :

    Lane changing method, device and equipment and computer readable storage medium


    Additional title:

    一种换道方法、装置、设备及计算机可读存储介质


    Contributors:
    PENG XIANG (author) / LI GANG (author) / CUI WENTAO (author) / SONG YANG (author)

    Publication date :

    2025-02-25


    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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