Lane changing method, device, electronic device and storage medium

Abstract

The invention provides a method and device for lane changing, an electronic device and a storage medium, wherein the method comprises the following steps of: determining safety critical area information according to a pre-established safety critical area prediction model and a current vehicle speed of a lane-to-be-changed vehicle, wherein the safety critical area information comprises a first safety critical area corresponding to a piloting vehicle of a target lane and a second safety critical area corresponding to a trailing vehicle of the target lane; according to the first safety critical area and the second safety critical area; determining an expected terminal position of the lane-to-be-changed vehicle; according to the expected terminal position and the position and posture information of the lane-to-be-changed vehicle, determining the line changing track, so that the lane-to-be-changed vehicle changes the lane according to the lane changing track. By adopting the pre-establishedsafety critical area prediction model, the safe running area of the lane-to-be-changed vehicle is determined, and the optimal lane-changing track is planned, so that the lane-changing process of thelane-to-be-changed vehicle is ensured to be safely and stably achieved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a lane changing method, device, electronic equipment and storage medium. Background technique [0002] For self-driving vehicles, changing lanes during driving is a very complex driving process. Specifically, in the process of performing lane changes, it is necessary to consider the driving intentions of surrounding vehicles and real-time based on the driving behavior of surrounding vehicles. Adjust the driving behavior of the vehicle itself. Especially in dense traffic, it is more difficult to choose the right time to merge into the feasible space area of ​​the adjacent lane and complete the lane change safely and smoothly. [0003] In the existing technology, the method of selecting the timing of lane change and optimizing the trajectory of lane change according to the feasible distance of the desired lane is either inclined to the cautious principle or the...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the method of selecting the timing of lane change and optimizing the trajectory of lane change based on the feasible distance of the desired lane is either inclined to the cautious principle or the radical principle. When the cautious principle is preferred, it is difficult to Start or complete the necessary lane-changing behavior; when inclined to the radical principle, it may cause a collision accident between the self-driving vehicle and the surrounding obstacle vehicles, directly affecting the usability and safety of the self-driving vehicle

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