Abstract: A decision method, device, equipment in a lane changing process and storage medium are provided. The method includes: 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; 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.

Abstract: A lane changing method, device for a driverless vehicle and a computer-readable storage medium are provided. The lane changing method includes: determining candidate lanes, to which a lane changing is to be performed, based on a travelling intention of a main vehicle; screening the candidate lanes based on lane changing conditions of the candidate lanes; selecting, from the screened candidate lanes, a target lane, to which the lane changing of the main vehicle is to be performed; determining whether the lane changing of the main vehicle from a current lane to the target lane is safe; and performing the lane changing, if the lane changing is determined to be safe.

Abstract: A lane changing method, device for a driverless vehicle and a computer-readable storage medium are provided. The lane changing method includes: determining candidate lanes, to which a lane changing is to be performed, based on a travelling intention of a main vehicle; screening the candidate lanes based on lane changing conditions of the candidate lanes; selecting, from the screened candidate lanes, a target lane, to which the lane changing of the main vehicle is to be performed; determining whether the lane changing of the main vehicle from a current lane to the target lane is safe; and performing the lane changing, if the lane changing is determined to be safe.

Abstract: A decision method, device, equipment in a lane changing process and storage medium are provided. The method includes: 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; 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.