Optimal lane changing trajectory screening method, device and equipment and readable storage medium

The invention relates to an optimal lane changing track screening method, device and equipment and a readable storage medium, and relates to the technical field of decision planning of automatic driving commercial vehicles, and the method comprises the steps: obtaining a plurality of candidate tracks including a current driving track of a vehicle; calculating the risk cost of each candidate trajectory based on the vehicle collision time parameter, the vehicle interval time parameter and the equivalent energy speed parameter; calculating the comfort cost of each candidate track based on the acceleration change rate parameter; calculating the speed cost of each candidate trajectory based on the speed parameters; calculating the dynamic performance cost of each candidate track based on the mass parameter, the acceleration parameter, the speed parameter and the gradient parameter; according to the risk cost, the comfort cost, the speed cost and the dynamic performance cost, the candidate track with the minimum co