CN106043313A - Automobile driving lane-changing intelligent guiding device - Google Patents
Automobile driving lane-changing intelligent guiding device Download PDFInfo
- Publication number
- CN106043313A CN106043313A CN201610599269.5A CN201610599269A CN106043313A CN 106043313 A CN106043313 A CN 106043313A CN 201610599269 A CN201610599269 A CN 201610599269A CN 106043313 A CN106043313 A CN 106043313A
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- China
- Prior art keywords
- lane change
- lane
- strategy
- changing
- driver
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an automobile driving lane-changing intelligent guiding device comprising, according to functions, a lane-changing intention detector, a gaming vehicle speed and spatial location detector, a detected data analyzer and processor (ECU) based on gaming theory, and a lane-changing strategy display and voice broadcast guiding device. During operation, a driver operates a steering shift fork to trigger the lane-changing intention detector and the gaming vehicle speed and spatial location detector; further, obtained data is sent to the ECU and the lane-changing detected data is analyzed based on a non-cooperative game theory compiled algorithm to work out a lane-changing strategy and convey the lane-changing strategy to the lane-changing strategy display and voice broadcast guiding device so that lane-changing intelligent guiding for drivers is realized. According to the device, safety of members in a non-cooperative game is taken into consideration, traffic efficiency is guaranteed, lane-changing intelligent guiding is performed to seek out a win-win solving strategy for all members in the game, and man-made deviation and misjudgment during lane-changing is solved.
Description
Technical field
The present invention relates to a kind of running car lane change intelligent guiding device, belong to automobile active safety technical field.
Background technology
China is in social economy and develops rapidly, and living standards of the people improve the stage day by day.Urban population increases severely and private
Family's car, in the rapid popularization of common people family, makes people's routine work, life radius gradually expand, thing followed road wagon flow
Speed is fast, intensity is big, and vehicle acceleration and deceleration frequent operation, passing time is long.In the case, road is widely present frequently change
Road, intert, the driving behavior such as seize, not only significantly reduce road efficiency, and easily cause vehicle accident, cause tight
Heavy traffic blocks up.The transportation cost that thereby results in (transit time increases, fuel oil consumption raises), (discharge, noise add Environmental costs
Acute) and social cost (road efficiency reduces, and the universal and driver and crew's emotion of blocking up is irritated) drastically raise, it is necessary to cause
Pay attention to.
In the face of this type of situation, administration section, by constantly upgrading, transformation, widening road, even introduces highway toll ETC card
Mode is to slow down, to improve congestion.And every traffic participant is when the even accident of blocking up in the face of causing because of frequent lane change,
All think it oneself is not the founder of this phenomenon, but victim.
Generally lane change should be to implement associative operation based on driver in the case of safety according to current demand, but due to
The complexity of road conditions and variability, subjective judgment standard varies with each individual.And " lane change demand " is that the profit of driver is intended to,
Can be easily obtained the attention of subjectivity；And " demand for security " there is also profit he be intended to, be prone to that when judging deviation occurs.In recent years
The typical case You Yuan Zhejiang University vice-president Wu Ping of " demand for security " is ignored owing to driver excessively payes attention to " lane change demand "
Hit dead event and Sichuan female driver by the event of beating.Its Central Plains Zhejiang University vice-president Wu Ping is i.e. that " lane change needs in excessively attention
Ask ", even ignore self " demand for security " and lane change by force, cause its car driven to bump against dead with truck.
Sichuan female driver is then being paid attention to oneself " lane change demand " due to this female driver by the event of beating, and ignores associative operation to other people
" demand for security " impact, cause rear car driver's emotion to intensify and occur by the event of beating.
Above case discloses driver in lane change operating process and payes attention to the most unconsciously " lane change demand ", and unintentionally
The fact that unfrequented " demand for security ".It practice, each driver is (left even front and back with front, rear, left and right vehicle in driving procedure
Right several cars) between form a non-cooperative game office, reasonably driving lane change strategy should be doulbe-sides' victory, and the most whole non-cooperation is won
Play chess the member in office and not only ensured mutual safety, and improve traffic efficiency.Thus driver not only weighs in lane change operation
Depending on self lane change and demand for security, and the current and demand for security of other members in game office to be met.
In consideration of it, it is contemplated that theoretical based on non-cooperative game, it is considered to member security and traffic efficiency in game office
Target, a kind of running car lane change intelligent guiding device of design, to seek the resolution policy of each member's doulbe-sides' victory in game office, solve
The deviation caused artificially is judged during lane change.
Summary of the invention
It is an object of the invention to artificially formulate for lane change strategy in driving conditions deviation and the erroneous judgement of existence, often excite logical
Row contradiction, reduces traffic efficiency, even results in the present situation of vehicle accident, to provide a kind of running car lane change intelligently guiding dress
Put.
The present invention is based on non-cooperation game theory, self and nearby vehicle is defined as a non-cooperative game office, is chasing after
Ask mutual safety to seek resolution policy under the doulbe-sides' victory target of traffic efficiency, be aided with detection, show and report function, formed and become
Road strategy intelligent guiding device.
Apparatus structure of the present invention includes driver's lane change intention detector, game intra-office car speed and locus
Detector, the lane change i.e. ECU of analysis of strategies processor and strategy display and voice announcer.
Driver's lane change intention detector, game intra-office car speed divide with lane change strategy respectively with locus detector
The analysis i.e. ECU of processor connects, and the lane change i.e. ECU of analysis of strategies processor is connected with voice announcer with strategy display.
Concrete function is as follows:
(1) driver's lane change intention detector: can trigger according to driver exactly and turn to shift fork to gather lane change and be intended to；
(2) game intra-office car speed and locus detector: be made up of bumper bar detector array before and after being installed on automobile,
Can measure exactly current lane and the target track fore-aft vehicle speed of service and with self distance；
(3) lane change analysis of strategies processor i.e. ECU: can be theoretical based on non-cooperative game, to driver's lane change intention and target carriage
Road takies situation data and is analyzed processing, it is judged that lane change feasibility, formulates lane change strategy；
(4) strategy display and voice announcer: can carry out showing and voice broadcast by lane change strategy.
State during work:
During running car, operator lane change shift fork, triggers driver's lane change intention detector and game intra-office vehicle simultaneously
Speed and locus detector, and respective gained information is sent to the lane change i.e. ECU of analysis of strategies processor, ECU is according to driving
The person of sailing is intended to and target track car speed and spatial position data, Algorithm Analysis lane change based on the exploitation of non-cooperative game theory
Feasibility also formulates lane change strategy, is exported by corresponding strategy simultaneously and shows to strategy and voice announcer.If current goal track
Allow driver to implement lane change, then complete intelligently guiding；If current goal track does not allow driver to implement lane change, then device is even
Continuing constantly collection and analytical data, i.e. game intra-office car speed and locus detector continuous firing, ECU continues to it
The data obtained, after before and after track, occupancy improves, it is possible to judges lane change feasibility in good time, and formulates corresponding lane change plan
Slightly, intelligently guiding is completed；When driver does not trigger lane change shift fork, inputting without trigger message, this device keeps mourning in silence.
It is an advantage of the current invention that:
1. can improve judgment bias or erroneous judgement that driver's subjective consciousness causes, ensure the safety of each member of game intra-office.
2. can seek to ensure the lane change plan of traffic efficiency between member while ensureing each member security of game intra-office
Slightly.
3. be conducive to road improvement entirety traffic and traffic efficiency.
Accompanying drawing explanation
Fig. 1 is running car lane change intelligent guiding device structural representation.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
Apparatus structure of the present invention includes driver's lane change intention detector, game intra-office car speed and locus
Detector, the lane change i.e. ECU of analysis of strategies processor and strategy display and voice announcer.
Driver's lane change intention detector, game intra-office car speed divide with lane change strategy respectively with locus detector
The analysis i.e. ECU of processor connects, and the lane change i.e. ECU of analysis of strategies processor is connected with voice announcer with strategy display.
State during work:
During running car, operator lane change shift fork, triggers driver's lane change intention detector and game intra-office vehicle simultaneously
Speed and locus detector, and respective gained information is sent to the lane change i.e. ECU of analysis of strategies processor, ECU is according to driving
The person of sailing is intended to and target track car speed and spatial position data, Algorithm Analysis lane change based on the exploitation of non-cooperative game theory
Feasibility also formulates lane change strategy, is exported by corresponding strategy simultaneously and shows to strategy and voice announcer.If current goal track
Allow driver to implement lane change, then complete intelligently guiding；If current goal track does not allow driver to implement lane change, then device is even
Continuing constantly collection and analytical data, i.e. game intra-office car speed and locus detector continuous firing, ECU continues to it
The data obtained, after before and after track, occupancy improves, it is possible to judges lane change feasibility in good time, and formulates corresponding lane change plan
Slightly, intelligently guiding is completed.When driver does not trigger lane change shift fork, inputting without trigger message, this device keeps mourning in silence.
Claims (1)
1. a running car lane change intelligent guiding device, it is characterised in that: described apparatus structure includes that driver's lane change is intended to
Detector, game intra-office car speed and locus detector, the lane change i.e. ECU of analysis of strategies processor and strategy display and language
Sound reports device；
Driver's lane change intention detector, game intra-office car speed and locus detector respectively with lane change analysis of strategies at
The reason i.e. ECU of device connects, and the lane change i.e. ECU of analysis of strategies processor is connected with voice announcer with strategy display；
During running car, operator lane change shift fork, triggers driver's lane change intention detector and game intra-office vehicle simultaneously
Speed and locus detector, and respective gained information is sent to the lane change i.e. ECU of analysis of strategies processor, lane change strategy divides
Analysis processor, according to driver intention and target track car speed and spatial position data, is developed based on non-cooperative game theory
Algorithm Analysis lane change feasibility and formulate lane change strategy, corresponding strategy is exported simultaneously and shows to strategy and voice announcer；
If current goal track allows driver to implement lane change, then complete intelligently guiding；If current goal track does not allow driver real
Execute lane change, then device successively gathers and analytical data, i.e. game intra-office car speed continues work with locus detector
Making, lane change analysis of strategies processor continues to its data obtained, after occupancy improves before and after track, it is possible in good time
Judge lane change feasibility, and formulate corresponding lane change strategy, complete intelligently guiding；When driver does not trigger lane change shift fork, nothing
Trigger message inputs, and this device keeps mourning in silence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610599269.5A CN106043313A (en) | 2016-07-28 | 2016-07-28 | Automobile driving lane-changing intelligent guiding device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610599269.5A CN106043313A (en) | 2016-07-28 | 2016-07-28 | Automobile driving lane-changing intelligent guiding device |
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| CN106043313A true CN106043313A (en) | 2016-10-26 |
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| CN201610599269.5A Pending CN106043313A (en) | 2016-07-28 | 2016-07-28 | Automobile driving lane-changing intelligent guiding device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110843789A (en) * | 2019-11-19 | 2020-02-28 | 苏州智加科技有限公司 | Vehicle lane change intention prediction method based on time sequence convolution network |
| CN111052733A (en) * | 2017-08-25 | 2020-04-21 | 日产自动车株式会社 | Surrounding vehicle display method and surrounding vehicle display device |
| CN111645692A (en) * | 2020-06-02 | 2020-09-11 | 中国科学技术大学先进技术研究院 | Hybrid strategy game-based driver overtaking intention identification method and system |
| CN112590791A (en) * | 2020-12-16 | 2021-04-02 | 东南大学 | Intelligent vehicle lane change gap selection method and device based on game theory |
| CN113257027A (en) * | 2021-07-16 | 2021-08-13 | 深圳知帮办信息技术开发有限公司 | Navigation control system for continuous lane change behavior |
| CN113903186A (en) * | 2021-09-28 | 2022-01-07 | 福信富通科技股份有限公司 | Passing speed guiding method based on big dipper data |
| CN115571165A (en) * | 2022-12-09 | 2023-01-06 | 广汽埃安新能源汽车股份有限公司 | Vehicle control method, device, electronic equipment and computer readable medium |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111052733A (en) * | 2017-08-25 | 2020-04-21 | 日产自动车株式会社 | Surrounding vehicle display method and surrounding vehicle display device |
| CN110843789A (en) * | 2019-11-19 | 2020-02-28 | 苏州智加科技有限公司 | Vehicle lane change intention prediction method based on time sequence convolution network |
| CN110843789B (en) * | 2019-11-19 | 2021-07-06 | 苏州智加科技有限公司 | Vehicle lane change intention prediction method based on time sequence convolution network |
| CN111645692A (en) * | 2020-06-02 | 2020-09-11 | 中国科学技术大学先进技术研究院 | Hybrid strategy game-based driver overtaking intention identification method and system |
| CN111645692B (en) * | 2020-06-02 | 2021-08-24 | 中国科学技术大学先进技术研究院 | Hybrid strategy game-based driver overtaking intention identification method and system |
| CN112590791A (en) * | 2020-12-16 | 2021-04-02 | 东南大学 | Intelligent vehicle lane change gap selection method and device based on game theory |
| CN112590791B (en) * | 2020-12-16 | 2022-03-11 | 东南大学 | Intelligent vehicle lane change gap selection method and device based on game theory |
| CN113257027A (en) * | 2021-07-16 | 2021-08-13 | 深圳知帮办信息技术开发有限公司 | Navigation control system for continuous lane change behavior |
| CN113257027B (en) * | 2021-07-16 | 2021-11-12 | 深圳知帮办信息技术开发有限公司 | Navigation control system for continuous lane change behavior |
| CN113903186A (en) * | 2021-09-28 | 2022-01-07 | 福信富通科技股份有限公司 | Passing speed guiding method based on big dipper data |
| CN115571165A (en) * | 2022-12-09 | 2023-01-06 | 广汽埃安新能源汽车股份有限公司 | Vehicle control method, device, electronic equipment and computer readable medium |
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Application publication date: 20161026 |
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