Lane-changing obstacle avoidance method, device and equipment, storage medium and automatic driving vehicle

The invention provides a lane changing obstacle avoidance method, device and equipment, a storage medium, a program product and an automatic driving vehicle. According to the specific implementation scheme, a target lane is detected; in response to the detection that the retrograde driving risk obstacle exists on the target lane, determining the avoidance position information of the main vehicle; adding a virtual obstacle in the map data according to the avoidance position information and the predicted trajectory information of the retrograde driving risk obstacle; and according to the map data added with the virtual obstacle, planning a track of the main vehicle converging into the target lane. 本公开提供了一种变道避障方法、装置、设备、存储介质、程序产品及自动驾驶车辆。具体实现方案为：对目标车道进行检测；响应于检测到目标车道上存在逆行风险障碍物，确定主车的让行位置信息；根据让行位置信息和逆行风险障碍物的预测轨迹信息在地图数据中添加虚拟障碍物；以及根据添加虚拟障碍物后的地图数据，规划主车汇入目标车道的轨迹。