Driving assistance mode switching method, device and equipment and storage medium

The invention discloses a driving assistance mode switching method, device and equipment and a storage medium. The method comprises the following steps: determining a driving intention according to vehicle control information acquired by a vehicle sensor; sensing the surrounding environment through a vehicle body sensor to determine the vehicle deviation degree, and obtaining the current vehicle speed; determining a vehicle driving state through a preset vehicle random motion prediction model according to the vehicle deviation degree and the current vehicle speed; and determining a corresponding target driving assistance mode according to the driving intention and the vehicle driving state, and switching the current mode to the target driving assistance mode. Through the mode, the vehicle driving state is analyzed and determined according to the vehicle deviation degree and the current vehicle speed, and the switching mode is determined according to the driver intention and the vehicle driving state, so that