Vehicle behavior prediction method and device and storage medium

The invention discloses a vehicle behavior prediction method and device and a storage medium. The method comprises the steps: determining a target vehicle in a preset range with the vehicle as a center when the vehicle is located in a ramp region; determining an off-ramp intention of the target vehicle based on a preset off-ramp cost function; and determining an off-ramp track of the vehicle according to the off-ramp intention of the target vehicle. According to the invention, the prediction of the vehicle behavior track is realized, and the prediction precision is improved. 本发明公开一种车辆行为预测方法、装置及存储介质，该方法包括：在车辆位于匝道区域时，确定以所述车辆为中心的预设范围内的目标车辆；基于预设下匝道代价函数确定所述目标车辆的下匝道意图；根据所述目标车辆的下匝道意图确定所述车辆的下匝道轨迹。本发明实现了对车辆行为轨迹的预测，提高了预测的精度。