Decision method, device, equipment in a lane changing process and storage medium

A decision device in a lane changing process, implemented by circuits for implementing functions, comprising:

• one or more processors;
• a storage device configured to store one or more programs;
• wherein the one or more programs are executed by the one or more processors to enable the one or more processors to:
• acquire a first planned track of a driverless vehicle for travelling to a first lane and a second planned track of the driverless vehicle for travelling to a second lane within a preset time period, in a lane changing process of the driverless vehicle, wherein the first lane is a target lane of the lane changing process, and the second lane is a lane where the driverless vehicle is located at a starting moment of the lane changing process;
• predict a predicted track of at least one obstacle within the preset time period according to a travelling state of the obstacle, wherein the obstacle is in a preset range around the driverless vehicle;
• and
• determine a travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle,
• wherein to determine the travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle, the one or more programs are executed by the one or more processors to enable the one or more processors further to:
• determine a first predicted position of the driverless vehicle and a predicted position of the obstacle at least one time point in a preset time period, according to the first planned track and the predicted track of the obstacle;
• for each time point in the preset time period, calculate a distance between the first predicted position and the predicted position;
• and
• determine whether a time point exists at which the distance is less than a first distance threshold, and determine that the travelling of the driverless vehicle to the first lane is not safe if the time point exists, wherein the first distance threshold is set according to a condition including at least one of a road type, a present road condition or a present vehicle velocity.

A non-volatile computer-readable storage medium, implemented by circuits for implementing functions, storing computer executable instructions stored thereon, that when executed by a processor cause the processor to perform operations comprising:

• acquiring a first planned track of a driverless vehicle for travelling to a first lane and a second planned track of the driverless vehicle for travelling to a second lane within a preset time period, in a lane changing process of the driverless vehicle, wherein the first lane is a target lane of the lane changing process, and the second lane is a lane where the driverless vehicle is located at a starting moment of the lane changing process;
• predicting a predicted track of at least one obstacle within the preset time period according to a travelling state of the obstacle, wherein the obstacle is in a preset range around the driverless vehicle;
• and
• determining a travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle,
• wherein determining the travelling motion of the driverless vehicle according to the first planned track, the second planned track and the predicted track of the obstacle, comprises:
• determining a first predicted position of the driverless vehicle and a predicted position of the obstacle at least one time point in a preset time period, according to the first planned track and the predicted track of the obstacle;
• for each time point in the preset time period, calculating a distance between the first predicted position and the predicted position;
• and
• determining whether a time point exists at which the distance is less than a first distance threshold, and determining that the travelling of the driverless vehicle to the first lane is not safe if the time point exists, wherein the first distance threshold is set according to a condition including at least one of a road type, a present road condition or a present vehicle velocity.