Decision-making method and device used in process of lane changing, equipment and storage medium

Abstract

The embodiment of the invention provides a decision-making method and deviceused in the process of lane changing, equipment and a storage medium. The method comprises the following steps ofacquiring afirst planned trajectory along which a self-driving vehicle runs towards a first lane and a second planned trajectory along which the self-driving vehicle runs towards a second lane in a preset period of time in the process of lane changing of the auto-driving vehicle, wherein the first lane is a target lane in the process of lane changing, and the second lane is a lane where the self-driving vehicle is located at the beginning of the process of lane changing; predicting the predicted trajectories of obstacles in the preset period of time according to the operation status of at least one obstacle in a preset range around the self-driving vehicle; and making a decision of the running action of the self-driving vehicle according to the first planned trajectory, the second planned trajectoryand the predicted trajectories of the obstacles. The decision-making method and device in the embodiment of the invention can cope with the unexpected situation on a road in the process of lane changing of the self-driving vehicle.

Description

technical field [0001] The present invention relates to the technical field of automatic driving vehicles, in particular to a decision-making method, device, equipment and storage medium in the process of changing lanes. Background technique [0002] When a vehicle is moving from one lane to another, this process is called changing lanes, or lane changing for short. Before changing lanes, the self-driving vehicle judges whether the target lane is safe according to its own planned trajectory and the trajectory of obstacles on the target lane, and if it is safe, executes the lane change. However, during the lane change process, there may be changes in the operating conditions of surrounding obstacles, such as the sudden acceleration of the rear car in the target lane or the sudden deceleration of the front car, which will make the lane change process of the self-driving vehicle unsafe. In the prior art, self-driving vehicles cannot cope with unexpected situations on the road ...

AI Technical Summary

Problems solved by technology

However, during the lane change process, there may be changes in the operation of surrounding obstacles, such as the sudden acceleration of the rear car in the target lane or the sudden deceleration of the front car, which will make the lane change process of the self-driving vehicle unsafe

In the existing technology, self-driving vehicles cannot cope with unexpected situations on the road during this lane change process

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