Lane forward target cut-out probability prediction method and device and storage medium

The invention belongs to the technical field of automatic driving, and provides a lane forward target cut-out probability prediction method and device and a storage medium, and the prediction method comprises the steps: S1, screening a vehicle which is closest to a vehicle forward on a lane, and taking the vehicle as a target vehicle for predicting the cut-out probability; s2, according to the transverse relative positions of the target vehicle and the lane line of the lane within the historical specified duration, planning transverse areas and cut-out probability values corresponding to different transverse relative positions, and forming a planning table; and S3, screening out interactive vehicles influencing the target vehicle cut-out probability. According to the prediction method, the complex traffic environment around the target vehicle is considered, multiple semantic behaviors of the interactive vehicle are divided, and the actual situation of the target vehicle based on physical motion is also consid