Motion state determination method and device and storage medium

The invention discloses a motion state determination method and device and a storage medium, and the method comprises the steps: carrying out the motion track prediction of a traffic subject around a vehicle in real time, so as to obtain the prediction track data of the traffic subject at the current moment; according to the predicted trajectory data, determining a lane changing direction of lane changing of the traffic subject and a target lane, and determining a target lane line type and a target lane attribute of the target lane; according to the type of the traffic subject, performing weighted scoring calculation on the predicted trajectory data, the type of the target lane line and the attribute of the target lane to obtain a lane changing intention score of the traffic subject at the current moment; determining the motion state of the traffic subject according to the lane changing intention score and the lane changing direction; according to the method, the influence of factors such as the prediction tr