CN107564311A - A kind of track change reminding method and device - Google Patents

A kind of track change reminding method and device Download PDF

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Publication number
CN107564311A
CN107564311A CN201610513664.7A CN201610513664A CN107564311A CN 107564311 A CN107564311 A CN 107564311A CN 201610513664 A CN201610513664 A CN 201610513664A CN 107564311 A CN107564311 A CN 107564311A
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CN
China
Prior art keywords
lane
lane change
module
vehicle
information
Prior art date
Application number
CN201610513664.7A
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Chinese (zh)
Inventor
姚雪飞
Original Assignee
惠州华阳通用电子有限公司
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Priority to CN201610513664.7A priority Critical patent/CN107564311A/en
Publication of CN107564311A publication Critical patent/CN107564311A/en

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Abstract

The present invention, which provides track change reminding method and device, method, to be included:S10. lane change prompt message is obtained;S20. current road ahead image is obtained, identifies the lane information of present road, vehicle is obtained and is presently in actual track as first lane information;S30. the lane information that acquisition vehicle should be residing from navigation data is as second lane information;If S40. the first lane information is consistent with the second lane information, S20 is returned, until the lane change prompt message fails, otherwise performs next step;S50. prompting of the lane change to the second lane is sent.The present invention realizes accurate navigation, in order to avoid miss lane change opportunity.

Description

A kind of track change reminding method and device

Technical field

The present invention relates to vehicle mounted guidance technical field, more particularly to a kind of track change reminding method and device.

Background technology

Current road is more and more wider, and track is more and more, and vehicle mounted guidance is carrying out branch road guiding and traffic When road conditions are reminded, do not guided according to vehicle truth, be provided solely for simple guidance information, example Such as " keeping to the right in 200 meters of front ".Now, driver needs to rejudge track residing for vehicle, and with leading The there is provided guidance information of boat is analyzed, and is easily caused judgement delay, is missed the machine for driving to correct track Meeting.

Therefore, prior art is further improved.

The content of the invention

The present invention provides a kind of track change reminding method and device, it is intended to the defects of solving in the prior art, Realize the automatic prompting of track change in navigation procedure.

To reach above-mentioned purpose, the technical solution used in the present invention is:

One aspect of the present invention provides a kind of track change reminding method, including:

S10. lane change prompt message is obtained.

S20. current road ahead image is obtained, identifies the lane information of present road, obtains the current institute of vehicle Locate actual track as first lane information.

S30. the lane information that acquisition vehicle should be residing from navigation data is as second lane information.

If S40. the first lane information is consistent with the second lane information, S20 is returned to, until institute The failure of lane change prompt message is stated, otherwise performs next step.

S50. prompting of the lane change to the second lane is sent.

Further, also include after the step S50:

S60. the first lane information is obtained after the first lane change window phase, if the first lane information with The second lane information is inconsistent, performs S50, and perform next step simultaneously.

S70. the running time from current vehicle position to lane change crossing is obtained, if the running time is less than the One lane change window phase, then control vehicle to reduce speed to the running time and be more than the first lane change window phase.

Specifically, the first lane change window phase determines that method is as follows:

S601. front and road in the rear image are obtained, and judges whether to meet lane change condition, if under then performing One step.

S602. using it is described meet lane change condition at the time of as the first lane change window phase time zero.

S603. the current vehicle speed of vehicle is obtained, calculates the time completed needed for lane change, and the is used as using this time The timing end point of one lane change window phase.

Further, also include after the step S70:

S80. the first lane information is obtained after the second lane change window phase, if the first lane information with The second lane information is inconsistent, then sends the confirmation without lane change.

If S90. receiving the confirmation without lane change, S10 is returned, otherwise returns to S50.

Specifically, the second lane change window phase is identical with the first lane change window phase.

Further, also include after the step S10:

S11. number of lanes is obtained, if the number of lanes is more than 1, performs next step.

Another aspect of the present invention provides a kind of track change suggestion device, including navigation information acquisition module, preceding Put image collection module, lane identification module, track comparison module, lane change reminding module;

The navigation information acquisition module, for obtaining lane change prompt message, obtains vehicle from navigation data Lane information that should be residing;

The preposition image collection module, for obtaining current road ahead image;

The lane identification module, for identifying the lane information of present road, obtain vehicle and be presently in reality Border track;

The track comparison module, for the lane information and lane identification for obtaining navigation information acquisition module The lane information that module obtains is compared judgement;

The lane change reminding module, for sending lane change prompting.

Further, the track change suggestion device, in addition to:Rearmounted image collection module, lane change bar Part judge module, lane change window phase module, apart from acquisition module, speed acquisition module, lane change time module, Running time computing module, time comparison module, speed control module;

The rearmounted image collection module, for obtaining road in the rear image;

The lane change condition judgment module, for judging whether to meet lane change condition;

The lane change window phase module, for determining the time of prompting change lane again;

It is described apart from acquisition module, for obtaining distance of the vehicle from current location to lane change crossing;

The speed acquisition module, for obtaining vehicle current vehicle speed;

The lane change time module, for calculating the time needed for vehicle completion lane change;

The running time computing module, for calculating running time of the vehicle from current location to lane change crossing;

The time comparison module, for judging the relation of the running time and lane change window phase;

The speed control module, for changing the speed of vehicle.

Further, the track change suggestion device, in addition to:Lane change interactive module, for receiving Lane change reminding module is closed after to the confirmation without lane change.

The beneficial effects of the present invention are:The present invention should be residing by obtaining vehicle from guidance system data Track, by obtaining carriageway image, identify lane line, determine the actually located track of vehicle, and pass through Whether that compares both unanimously carries out lane change prompting, realizes accurate navigation, in order to avoid miss lane change opportunity.

Brief description of the drawings

Fig. 1 is the structural representation of the track change prompting of the present invention;

Fig. 2 is another structural representation of the track change prompting of the present invention;

Fig. 3 is the another structural representation of the track change prompting of the present invention.

Embodiment

Embodiments of the present invention are specifically illustrated below in conjunction with the accompanying drawings, and accompanying drawing is only for reference and explanation uses, no Form the limitation to scope of patent protection of the present invention.

On the one hand embodiments of the invention provide a kind of track change reminding method, including:

Step 10. obtains lane change prompt message.

In the specific implementation, can be determined whether by monitoring prompt message type that navigation software sends Lane change prompt message is reported.

Step 20. obtains current road ahead image, identifies the lane information of present road, obtains vehicle and works as Preceding residing actual track is as first lane information.

In the specific implementation, when system monitoring to after having lane-change prompt message, automatically turn on for obtain front The camera of road image, it is preferable that the camera be infrared camera or common camera with it is infrared The combination of camera.The track that vehicle is presently in can be judged by image recognition algorithm, this is existing Technology, it will not be repeated here.

Step 30. obtains lane information that vehicle should be residing as second lane information from navigation data.

Typically, navigate when reporting lane change prompt message, can include which bar car prompting user's vehicle should be at Road, such as report " front is turned, and is please travelled along left side road link ", then illustrate that vehicle should be at left side Road.

If the step 40. first lane information is consistent with the second lane information, return to step 20, Until the lane change prompt message fails, next step is otherwise performed.

Step 50. sends prompting of the lane change to the second lane.

If the first lane information and the second lane information are inconsistent, illustrate that Current vehicle travels On the track of mistake, user should be now prompted by vehicle to change to correct track, in order to avoid miss change Road opportunity.In the specific implementation, the lane change prompting preferably voice message, such as " front will turn, Your track of current driving is wrong, and please keep left side road driving ".

In one embodiment of the invention, also include after step 50:

Step 60. obtains the first lane information after the first lane change window phase, if the first lane is believed Breath is inconsistent with the second lane information, performs step 50, and perform next step simultaneously.

Specifically, the first lane change window phase determines that method is as follows:

Step 601. obtains front and road in the rear image, and judges whether to meet lane change condition, if then holding Row is in next step.

Step 602. using it is described meet lane change condition at the time of as the first lane change window phase time zero.

Step 603. obtains the current vehicle speed of vehicle, calculates the time completed needed for lane change, and make with this time For the timing end point of the first lane change window phase.

Step 70. obtains the running time from current vehicle position to lane change crossing, if the running time is small In the first lane change window phase, then control vehicle to reduce speed to the running time and be more than the first lane change window The mouth phase.

If running time of the vehicle from current location to lane change crossing is less than the first lane change window phase, illustrate car According to current vehicle speed traveling by the not enough lane change time, therefore, vehicle should be now controlled to reduce car Speed, so that vehicle has the enough lane change time from current location to lane change crossing.

In one embodiment of the invention, also include after step 70:

Step 80. obtains the first lane information after the second lane change window phase, if the first lane is believed Breath is inconsistent with the second lane information, then sends the confirmation without lane change.

Specifically, the second lane change window phase is identical with the first lane change window phase.

After speed is reduced, if user illustrates that user is not intended to not yet by vehicle to change to correct track Change present running route, or there is a situation where to be unable to lane change, should now stop carrying out lane change prompting, and The confirmation without lane change should be sent.

If step 90. receives the confirmation without lane change, return to step 10, otherwise return to step 50。

If user is confirmed without lane change, return to step 10 continues to obtain next lane change prompting, otherwise Return to step 50 continues lane change prompting.

In one embodiment of the invention, also include after step 10:

Step 11. obtains number of lanes, if the number of lanes is more than 1, performs next step.

If current lane number is 1, the situation for driving to wrong track is necessarily not present, then can not The steps such as follow-up lane identification are carried out, save system resource.

As shown in figure 1, another aspect of the present invention provides a kind of track change suggestion device, including navigation information obtains Modulus block, preposition image collection module, lane identification module, track comparison module, lane change reminding module;

The navigation information acquisition module, for obtaining lane change prompt message, obtains vehicle from navigation data Lane information that should be residing;

The preposition image collection module, for obtaining current road ahead image;

The lane identification module, for identifying the lane information of present road, obtain vehicle and be presently in reality Border track;

The track comparison module, for the lane information and lane identification for obtaining navigation information acquisition module The lane information that module obtains is compared judgement;

The lane change reminding module, for sending lane change prompting.

The present invention track change suggestion device the course of work be:

First, map of navigation electronic is installed in onboard system, and opens Navigator, performs route guidance, Navigation information acquisition module obtains the lane change prompt message when navigation system produces lane change prompt message, And the track that vehicle should be residing is obtained from navigation data, as first lane information, and it is sent to track Comparison module.

Now, preposition image collection module is opened, and obtains current road ahead image, and is sent to track knowledge Other module, identifies the lane information of present road, and analysis judges that vehicle is presently in actual track, and conduct Second lane information, and it is sent to track comparison module.Above-mentioned lane identification, vehicle are presently in actual car Road identification technology is prior art, be will not be repeated here.

Then, track comparison module is judged the first lane information and second lane information that receive, The first lane information is consistent with the second lane information, illustrates user's traveling on correct track, Then lane identification module continues to identify the lane information of present road, and analysis judges that vehicle is presently in actual car Road, until current lane change prompt message fails;Otherwise, illustrate that user's traveling on incorrect track, becomes Road reminding module sends prompting of the lane change to the second lane.The lane change prompting is preferably voice message, Such as " front will turn, and your track of current driving is wrong, and please keep left side road driving ".

As shown in Fig. 2 in another embodiment of the present invention, suggestion device is changed in the track, in addition to: Rearmounted image collection module, lane change condition judgment module, lane change window phase module, apart from acquisition module, car Fast acquisition module, lane change time module, running time computing module, time comparison module, speed control mould Block;

The rearmounted image collection module, for obtaining road in the rear image;

The lane change condition judgment module, for judging whether to meet lane change condition;

The lane change window phase module, for determining the time of prompting change lane again;

It is described apart from acquisition module, for obtaining distance of the vehicle from current location to lane change crossing;

The speed acquisition module, for obtaining vehicle current vehicle speed;

The lane change time module, for calculating the time needed for vehicle completion lane change;

The running time computing module, for calculating running time of the vehicle from current location to lane change crossing;

The time comparison module, for judging the relation of the running time and lane change window phase;

The speed control module, for changing the speed of vehicle.

In the present embodiment, preposition image collection module, rearmounted image collection module obtain respectively front and after Square road image, and be sent to lane change condition judgment module and carry out image recognition, judge whether to meet lane change bar Part, be, lane change window phase module using it is described meet lane change condition at the time of as the first lane change window phase meter Shi Qidian, and vehicle current vehicle speed is obtained by speed acquisition module, then calculated by lane change time module Vehicle is completed the time needed for lane change, and the timing end point using this time as the first lane change window phase.Counting While calculating the first lane change window phase, running time computing module calculates vehicle from current location to lane change crossing Running time, then passage time comparison module judge the relation of the running time and lane change window phase: If the running time is less than the first lane change window phase, it is big to the running time that control vehicle reduces speed In the first lane change window phase.

As shown in figure 3, in yet another embodiment of the present invention, suggestion device is changed in the track, also wraps Include:Lane change interactive module, for closing lane change reminding module after receiving without the confirmation of lane change.

In the present embodiment, lane change window phase module is it is determined that after the second lane change window phase, lane identification module The first lane information is obtained, if track comparison module judges the first lane information and described second Lane information is inconsistent, then sends the confirmation without lane change by lane change interactive module;If lane change is handed over Mutual module receives the confirmation without lane change, then closes lane change reminding module, and continue detecting system Next lane change prompt tone;If lane change interactive module receive carry out lane change confirmation, continue into Row lane change is prompted.

Above disclosed is only presently preferred embodiments of the present invention, it is impossible to is protected with this to limit the right of the present invention Scope, therefore the equivalent variations made according to scope of the present invention patent are protected, still belong to the model that the present invention is covered Enclose.

Claims (8)

1. reminding method is changed in a kind of track, it is characterised in that including:
S10. lane change prompt message is obtained;
S20. current road ahead image is obtained, identifies the lane information of present road, obtains the current institute of vehicle Locate actual track as first lane information;
S30. the lane information that acquisition vehicle should be residing from navigation data is as second lane information;
If S40. the first lane information is consistent with the second lane information, S20 is returned to, until institute The failure of lane change prompt message is stated, otherwise performs next step;
S50. prompting of the lane change to the second lane is sent.
2. reminding method is changed in track according to claim 1, it is characterised in that in the step S50 Also include afterwards:
S60. the first lane information is obtained after the first lane change window phase, if the first lane information with The second lane information is inconsistent, performs S50, and perform next step simultaneously;
S70. the running time from current vehicle position to lane change crossing is obtained, if the running time is less than the One lane change window phase, then control vehicle to reduce speed to the running time and be more than the first lane change window phase.
3. reminding method is changed in track according to claim 2, it is characterised in that first lane change Window phase determines that method is as follows:
S601. front and road in the rear image are obtained, and judges whether to meet lane change condition, if under then performing One step;
S602. using it is described meet lane change condition at the time of as the first lane change window phase time zero;
S603. the current vehicle speed of vehicle is obtained, calculates the time completed needed for lane change, and the is used as using this time The timing end point of one lane change window phase.
4. reminding method is changed in track according to claim 2, it is characterised in that in the step S70 Also include afterwards:
S80. the first lane information is obtained after the second lane change window phase, if the first lane information with The second lane information is inconsistent, then sends the confirmation without lane change;
If S90. receiving the confirmation without lane change, S10 is returned, otherwise returns to S50;
The second lane change window phase is identical with the first lane change window phase.
5. reminding method is changed in track according to claim 1, it is characterised in that in the step S10 Also include afterwards:
S11. number of lanes is obtained, if the number of lanes is more than 1, performs next step.
6. suggestion device is changed in a kind of track, it is characterised in that including:It is navigation information acquisition module, preposition Image collection module, lane identification module, track comparison module, lane change reminding module;
The navigation information acquisition module, for obtaining lane change prompt message, obtains vehicle from navigation data Lane information that should be residing;
The preposition image collection module, for obtaining current road ahead image;
The lane identification module, for identifying the lane information of present road, obtain vehicle and be presently in reality Border track;
The track comparison module, for the lane information and lane identification for obtaining navigation information acquisition module The lane information that module obtains is compared judgement;
The lane change reminding module, for sending lane change prompting.
7. suggestion device is changed in track according to claim 6, it is characterised in that also includes:It is rearmounted Image collection module, lane change condition judgment module, lane change window phase module, obtain apart from acquisition module, speed Modulus block, lane change time module, running time computing module, time comparison module, speed control module;
The rearmounted image collection module, for obtaining road in the rear image;
The lane change condition judgment module, for judging whether to meet lane change condition;
The lane change window phase module, for determining the time of prompting change lane again;
It is described apart from acquisition module, for obtaining distance of the vehicle from current location to lane change crossing;
The speed acquisition module, for obtaining vehicle current vehicle speed;
The lane change time module, for calculating the time needed for vehicle completion lane change;
The running time computing module, for calculating running time of the vehicle from current location to lane change crossing;
The time comparison module, for judging the relation of the running time and lane change window phase;
The speed control module, for changing the speed of vehicle.
8. suggestion device is changed in track according to claim 7, it is characterised in that also includes:Lane change Interactive module, for closing lane change reminding module after receiving without the confirmation of lane change.
CN201610513664.7A 2016-06-30 2016-06-30 A kind of track change reminding method and device CN107564311A (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1637385A (en) * 2003-12-24 2005-07-13 爱信艾达株式会社 Navigation apparatus, navigation system
US20060184321A1 (en) * 2005-02-17 2006-08-17 Denso Corporation Navigation system, program thereof and map data thereof
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