CN107749194A - A kind of lane change householder method and mobile terminal - Google Patents

Abstract

The invention provides a kind of lane change householder method and mobile terminal, solve the problems, such as that driver faces complex road condition and is easy to that traffic accident occurs in lane change in the prior art.Mobile terminal, which includes preposition binocular camera and rearmounted binocular camera, method, to be included：Rear road conditions image and front road conditions image are gathered by preposition binocular camera and rearmounted binocular camera respectively, rear road conditions image includes current lane rear images and adjacent lane rear images, and front road conditions image includes current lane forward image and adjacent lane forward image；According to rear road conditions image and front road conditions image, traffic information is obtained；According to traffic information and navigation information, lane change advisory information is exported.The present invention exports lane change advisory information, can help complex road condition during driver's reply lane change, improve drive safety by gathering rear road conditions image and front road conditions image.

Description

A kind of lane change householder method and mobile terminal

Technical field

The present invention relates to electronic technology field, and more particularly, to a kind of lane change householder method and mobile terminal.

Background technology

With the improvement of living standards, car ownership is growing, cause the vehicle on road surface more and more, traffic thing Therefore it is consequently increased.Travel speed is improper when most of traffic accident is all due to lane change, or misoperation trigger knock into the back, Or by car rear-end.

Because the road conditions that driver faces in lane change are more complicated, it is easy to traffic accident occurs.In order to avoid this kind of friendship The generation of interpreter's event, in addition to improving the technology of driver, need a kind of ancillary method badly and help answering during driver's reply lane change Miscellaneous road conditions.

The content of the invention

The embodiment of the present invention provides a kind of lane change householder method and mobile terminal, to solve to drive in lane change in the prior art The road conditions that the person of sailing faces are more complicated, it is easy to the problem of traffic accident occurs.

In order to solve the above-mentioned technical problem, the present invention is realized in：A kind of lane change householder method, applied to mobile whole End, the mobile terminal, which includes preposition binocular camera and rearmounted binocular camera, methods described, to be included：

Rear road conditions image and front are gathered by the preposition binocular camera and the rearmounted binocular camera respectively Road conditions image, the rear road conditions image include current lane rear images and adjacent lane rear images, the front road conditions Image includes current lane forward image and adjacent lane forward image；

According to the rear road conditions image and the front road conditions image, traffic information is obtained；

According to the traffic information and navigation information, lane change advisory information is exported.

In a first aspect, the embodiment of the present invention additionally provides a kind of mobile terminal, including preposition binocular camera and rearmounted pair Mesh camera, in addition to：

Acquisition module, for gathering rear road respectively by the preposition binocular camera and the rearmounted binocular camera Condition image and front road conditions image, the rear road conditions image include current lane rear images and adjacent lane rear images, The front road conditions image includes current lane forward image and adjacent lane forward image；

Acquisition module, for according to the rear road conditions image and the front road conditions image, obtaining traffic information；

First output module, for according to the traffic information and navigation information, exporting lane change advisory information.

Second aspect, the embodiment of the present invention additionally provide a kind of mobile terminal, including processor, memory and are stored in institute The computer program that can be run on memory and on the processor is stated, when the computer program is by the computing device The step of realizing as above lane change householder method described in any one.

The third aspect, the embodiment of the present invention additionally provide a kind of computer-readable recording medium, described computer-readable to deposit Computer program is stored with storage media, the as above lane change described in any one is realized when the computer program is executed by processor The step of householder method.

For the embodiment of the present invention by gathering rear road conditions image and front road conditions image, output lane change advisory information can Complex road condition during driver's reply lane change is helped, improves drive safety.

Brief description of the drawings

In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art The required accompanying drawing used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present invention Example is applied, for those of ordinary skill in the art, without having to pay creative labor, can also be attached according to these Figure obtains other accompanying drawings.

Fig. 1 is the flow chart of lane change householder method provided in an embodiment of the present invention；

Fig. 2 is another flow chart of lane change householder method provided in an embodiment of the present invention；

Fig. 3 is another flow chart of lane change householder method provided in an embodiment of the present invention；

Fig. 4 is another flow chart of lane change householder method provided in an embodiment of the present invention；

Fig. 5 is the structural representation of mobile terminal provided in an embodiment of the present invention；

Fig. 6 is another structural representation of mobile terminal provided in an embodiment of the present invention；

Fig. 7 is another structural representation of mobile terminal provided in an embodiment of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made Example, belongs to the scope of protection of the invention.

In some embodiments of the invention, there is provided a kind of lane change householder method, applied to mobile terminal, the movement Terminal includes preposition binocular camera and rearmounted binocular camera, and shown in reference picture 1, methods described includes：

Step 101, rear road conditions figure is gathered by the preposition binocular camera and the rearmounted binocular camera respectively Picture and front road conditions image, the rear road conditions image includes current lane rear images and adjacent lane rear images, described Front road conditions image includes current lane forward image and adjacent lane forward image.

In the embodiment of the present invention, mobile terminal is provided with preposition binocular camera and rearmounted binocular camera, in this step Rear road conditions image and front road conditions image can be gathered simultaneously by preposition binocular camera and rearmounted binocular camera, after being The continuous traffic information that obtains provides support.

Step 102, according to the rear road conditions image and the front road conditions image, traffic information is obtained.

Here, rear road conditions image and front road conditions image clearly show rear road conditions and front road conditions, root respectively According to rear road conditions image and front road conditions image, traffic information can be accurately obtained.

Step 103, according to the traffic information and navigation information, lane change advisory information is exported.

Here, combining road condition information and navigation information, rational lane change suggestion is can determine, by exporting lane change recommendation letter Cease to driver, complex road condition during driver's reply lane change can be helped, improve drive safety.

The lane change householder method of the embodiment of the present invention, the image gathered using binocular camera, can effectively it determine rationally Lane change advisory information and export, so as to help driver tackle lane change when complex road condition, improve drive safety, Avoid the generation of traffic accident.

Optionally, shown in reference picture 2, above-mentioned steps 102 include：

Step 1021, according to the front road conditions image, front vehicles and the movement for obtaining the current lane are whole Second between the first distance, the front vehicles of the adjacent lane and the target vehicle between target vehicle where holding Distance.

Here, by front road conditions image, effectively can get between the front vehicles of current lane and target vehicle The first distance, the second distance between the front vehicles of adjacent lane and target vehicle, based on the first distance got and Second distance, rational lane change suggestion can be provided.Such as when the first distance and second distance are all higher than default safe distance Just suggest lane change, or the difference of the difference in the first distance and default safe distance, second distance and default safe distance is equal Just suggest lane change during more than certain threshold value.

Wherein, mobile terminal is placed in target vehicle, and is bound in advance with target vehicle, so as to mobile terminal The information such as navigation, the speed of target vehicle can be obtained from target vehicle by wired or wireless mode.

Wherein it is possible to understand, front road conditions are determined by object of reference of target vehicle, i.e. front road conditions are feelings the pulse with the finger-tip Mark the road conditions of vehicle front.

Step 1022, according to the rear road conditions image, the front vehicle of the current lane and the target carriage are obtained The 4th distance between the 3rd distance, the front vehicle of the adjacent lane and the target vehicle between.

Here, by rear road conditions image, effectively can get between the front vehicle of current lane and target vehicle The 3rd distance, the 4th distance between the front vehicle of adjacent lane and target vehicle, based on the 3rd distance got and 4th distance, rational lane change suggestion can be provided.Such as when the 3rd distance and the 4th distance are all higher than default safe distance Just suggest lane change, or it is equal in difference, the difference of the 4th distance and default safe distance of the 3rd distance and default safe distance Just suggest lane change during more than certain threshold value.

Wherein it is possible to understand, rear road conditions are determined by object of reference of target vehicle, i.e., rear road conditions are feelings the pulse with the finger-tip Mark the road conditions of rear view of vehicle.

Step 1023, the second speed of the First Speed of the target vehicle and the front vehicle of the adjacent lane is obtained Degree.

Here, can by obtaining the second speed of the First Speed of target vehicle and the front vehicle of adjacent lane Based on the First Speed and second speed, rational lane change suggestion is provided.For example, when First Speed is more than second speed It is recommended that lane change, or just suggest lane change when the difference of First Speed and second speed is more than certain threshold value.

Wherein, mobile terminal can obtain the First Speed of target vehicle by wired or wireless mode from target vehicle.

Above-mentioned steps 103 include：

Step 1031, according to the described first distance, the second distance, it is described 3rd distance, it is described 4th distance, it is described First Speed, the second speed and navigation information, export lane change advisory information.

Here, according to the first distance between the front vehicles of current lane and target vehicle, the front car of adjacent lane The 3rd distance, adjacent car between the front vehicle and target vehicle of second distance, current lane between target vehicle The 4th distance, the front vehicle of the First Speed of target vehicle, adjacent lane between the front vehicle and target vehicle in road Second speed and navigation information, rational lane change suggestion is can determine, by the way that lane change advisory information is exported to driver, energy Complex road condition during driver's reply lane change is enough helped, improves drive safety.

Optionally, shown in reference picture 3, above-mentioned steps 1031 include：

Step 10311, according to the described first distance, the second distance, the 3rd distance, the 4th distance, institute First Speed, the second speed and navigation information are stated, determines whether suggestion lane change.

Here, according to the first distance between the front vehicles of current lane and target vehicle, the front car of adjacent lane The 3rd distance, adjacent car between the front vehicle and target vehicle of second distance, current lane between target vehicle The 4th distance, the front vehicle of the First Speed of target vehicle, adjacent lane between the front vehicle and target vehicle in road Second speed and navigation information, it can accurately analyze current road conditions and be determined whether if appropriate for lane change, that is, accurately It is recommended that lane change.

Specifically, above-mentioned steps 10311 include：

By the described first distance, the second distance, it is described 3rd distance, it is described 4th distance respectively with default safety away from From being compared；By the First Speed compared with the second speed；When the described first distance, the second distance, 3rd distance, the 4th distance are all higher than the default safe distance, and the First Speed is more than the described second speed Degree, and according to the navigation information determine to the adjacent lane lane change do not influence navigation way when, it is determined that currently suggest lane change, It is otherwise, it determines current it is not recommended that lane change.

Now, default safe distance, and the first speed are all higher than in the first distance, second distance, the 3rd distance, the 4th distance Degree is more than second speed, and to adjacent lane lane change do not influence navigation way when, just determine it is current suggest lane change, otherwise determination ought It is preceding it is not recommended that lane change.Forward and backward side's vehicle of target vehicle and current lane and adjacent lane is kept when ensuring that lane change Safe distance, it will not be collided because of lane change and front or behind vehicle, and the speed of target vehicle is more than adjacent lane The speed of front vehicle, the generation for situations such as being knocked into the back caused by the front vehicle excessive velocities of adjacent lane after lane change is avoided, Ensure that security during lane change.

Above-mentioned steps 10311 can also the first distance, second distance, the 3rd distance, the 4th distance and default safety away from From difference be all higher than certain threshold value, and the difference of First Speed and second speed is more than certain threshold value, and becomes to adjacent lane When road does not influence navigation way, current suggestion lane change is just determined, otherwise, it determines current it is not recommended that lane change.Equally it is able to ensure that change Security during road.

Wherein, default safe distance is prestored or determined in real time with reference to current weather conditions. Default safe distance can be determined according to driving experience or for experimental data obtained by various driving conditions etc..

Step 10312, if currently suggesting lane change, according to the First Speed and the second speed, output is suggested Lane change speed, otherwise, output are current it is not recommended that the prompt message of lane change.

Here, if currently suggesting lane change, according to First Speed and second speed, it is determined that suggesting lane change speed and defeated Go out, enable a driver to the lane change speed safe driving according to suggestion, otherwise, output is current it is not recommended that the prompt message of lane change, Enable a driver in time know in current unsuitable lane change, avoid because lane change is caused danger.

Specifically, in above-mentioned steps 10312, according to the First Speed and the second speed, lane change is suggested in output The step of speed, includes：

By the First Speed compared with the second speed；When the First Speed and the difference of the second speed When value is more than the first predetermined threshold value, it is determined that suggesting that lane change speed is the First Speed, otherwise, it determines suggesting that lane change speed is institute Stating First Speed increases the speed after the second predetermined threshold value.

Now, when the difference of First Speed and second speed is more than the first predetermined threshold value, that is, target vehicle is current Speed is sufficiently fast compared with the speed of front vehicle, will not trigger when the accident such as knocking into the back, it is determined that suggest that lane change speed is First Speed, it is no Then, it is determined that suggesting that lane change speed is that the First Speed increases the speed after the second predetermined threshold value, that is, First Speed is suggested Lane change is carried out again after increasing by the second predetermined threshold value, is driven when ensuring that lane change with reasonable speed, avoids the accident such as knock into the back Generation, further ensure the security of driving.

Wherein, the first predetermined threshold value and the second predetermined threshold value can be according to driving experiences or obtained by various driving conditions Experimental data etc. be determined.First predetermined threshold value and the second predetermined threshold value such as can be 10km/h, but not limited to this.

Assuming that the first predetermined threshold value and the second predetermined threshold value are 10km/h, then suggest that lane change speed V refers to following public affairs Formula obtains：

Wherein, S1 is the first distance between the front vehicles of current lane and target vehicle, and S2 is before adjacent lane Second distance between square vehicle-to-target vehicle, S3 be current lane front vehicle and target vehicle between the 3rd away from From S4 is the 4th distance between the front vehicle of adjacent lane and target vehicle, and S is default safe distance, and V0 is target carriage First Speed, V2 be adjacent lane front vehicle second speed.Navigation way is not being influenceed to adjacent lane lane change In the case of, with reference to above-mentioned formula：It is all higher than presetting in the first distance S1, second distance S2, the 3rd distance S3, the 4th distance S4 Safe distance S, and the First Speed V0 of target vehicle is more than the second speed V2 of front vehicle, but the difference between V0 and V2 is small When 10km/h, it is proposed that lane change speed V=V0+10；In the first distance S1, second distance S2, the 3rd distance S3, the 4th Distance S4 is all higher than default safe distance S, and when the difference between V0 and V2 is more than 10km/h, it is proposed that lane change speed V=V0； First distance S1, second distance S2, the 3rd distance S3 or the 4th distance S4 are less than or equal to default safe distance S, or target The First Speed V0 of vehicle suggests lane change speed V=0 when being less than the second speed V2 of front vehicle, V=0 is represented it is not recommended that change Road.Wherein, all speed units are km/h in above-mentioned formula, and all parasangs are m.

Now, lane change speed suggestion is exported in the manner described above, it is ensured that driver can be in lane change with reasonable speed Drive, avoid the generation for the accident such as knock into the back, further ensure the security of driving.

Certainly, above-mentioned steps 10312 also can otherwise, according to First Speed and second speed, it is determined that suggesting Lane change speed.For example, when the difference of First Speed and the second speed is more than the first predetermined threshold value, it is determined that suggesting lane change speed Spending increases the speed after the 3rd predetermined threshold value for First Speed, otherwise, it determines suggesting that lane change speed is First Speed increase the 4th Speed after predetermined threshold value, the 4th predetermined threshold value are more than the 3rd predetermined threshold value.

Optionally, shown in reference picture 4, above-mentioned steps 1021 include：

Step 10211, the first car plate in the current lane forward image is detected, in the adjacent lane forward image The second car plate.

Here, by detecting the second car in the first car plate in current lane forward image, adjacent lane forward image Board, for follow-up the first distance, adjacent lane front vehicles and the target determined between current lane front vehicles and target vehicle Second distance between vehicle provides support.

Wherein, the first car plate in current lane forward image, the second car plate in adjacent lane forward image are detected Mode is unlimited, can use any one known manner.Specifically, rectangular area that can be first with car plate level of approximation, character String is all the characteristic arranged by horizontal direction, eliminates part jamming target；Secondly according to the provincial characteristics of characters on license plate connected component, Width and all similar connected component of height are configured to arest neighbors connected component pair, so as to detect all possible license plate area； Finally matched using horizontally and vertically projection of the square wave template of two groups of different lengths respectively to car plate, verify candidate license plate The validity in region, and the optimal dicing position of all characters on license plate is solved, obtain real car plate position.This process is specifically real Apply as follows：

1st, the existing car plate Aspect Ratio used in China is fixed value, and most of candidate can be excluded according to the ratio value Region；

2nd, license plate candidate area can be subjected to binaryzation using relevant art, after obtaining the image of binaryzation, by candidate Region is projected to x-axis, y-axis, can obtain corresponding block diagram, and the block diagram that real car plate obtains has certain spy Sign, by comparing the similitude between the block diagram that candidate region obtains and the block diagram that true car plate obtains, one can be excluded Segment candidate region.The technology that binaryzation is wherein carried out to car plate includes but is not limited to：According on the background color and car plate of car plate Letter, word, this different fixed attribute of the color of numeral, carry out binaryzation by the coloured image of candidate region, obtain gray scale Image.

Step 10212, the depth of view information of the first car plate in the current lane forward image, the adjacent lane are calculated The depth of view information of the second car plate in forward image.

Here, by calculating depth of view information, the adjacent lane forward image of the first car plate in current lane forward image In the second car plate depth of view information, for follow-up the first distance obtained between vehicle-to-target vehicle corresponding to the first car plate, Second distance between vehicle-to-target vehicle corresponding to second car plate provides support.

Wherein, in the depth of view information of the first car plate in calculating current lane forward image, adjacent lane forward image The mode of the depth of view information of second car plate is unlimited, can use any one known manner.

Step 10213, according to the depth of view information of first car plate, obtain vehicle corresponding to first car plate with it is described The first distance between target vehicle.

Here, according to the depth of view information of the first car plate, vehicle-to-target car corresponding to the first car plate can be accurately obtained The first distance between.

Wherein, the depth of view information of the first car plate includes the camera lens of vehicle and mobile terminal corresponding to the first car plate in picture field Distance in scape, can according to the transformational relation of distance between image scene and real scene, by vehicle corresponding to the first car plate with Distance of the camera lens of mobile terminal in image scene is converted to the distance in real scene.The position of wherein mobile terminal is equivalent In the position of target vehicle, thus can by the camera lens of vehicle and mobile terminal corresponding to the first car plate real scene in away from From being equivalent to corresponding to the first car plate with a distance from vehicle-to-target vehicle, i.e. the first distance.

If it should be noted that it is not detected by car plate in current lane forward image, it is believed that the front of current lane First between vehicle-to-target vehicle is at a distance sufficiently large.

Step 10214, according to the depth of view information of second car plate, obtain vehicle corresponding to second car plate with it is described Second distance between target vehicle.

Here, according to the depth of view information of the second car plate, vehicle-to-target car corresponding to the second car plate can be accurately obtained Second distance between.

Wherein, the depth of view information of the second car plate includes the camera lens of vehicle and mobile terminal corresponding to the second car plate in picture field Distance in scape, can according to the transformational relation of distance between image scene and real scene, by vehicle corresponding to the second car plate with Distance of the camera lens of mobile terminal in image scene is converted to the distance in real scene.The position of wherein mobile terminal is equivalent In the position of target vehicle, thus can by the camera lens of vehicle and mobile terminal corresponding to the second car plate real scene in away from From being equivalent to corresponding to the second car plate with a distance from vehicle-to-target vehicle, i.e. second distance.

If it should be noted that it is not detected by car plate in adjacent lane forward image, it is believed that the rear of adjacent lane Second distance between vehicle-to-target vehicle is sufficiently large.

Above-mentioned steps 1022 include：

Step 10221, the 3rd car plate in the current lane rear images is detected, in the adjacent lane rear images The 4th car plate.

Here, by detecting the 4th car in the 3rd car plate in current lane rear images, adjacent lane rear images Board, the 3rd distance, the front vehicle of adjacent lane between the follow-up front vehicle for determining current lane and target vehicle with The 4th distance between target vehicle provides support.

Wherein, the 3rd car plate in current lane rear images, the 4th car plate in adjacent lane rear images are detected Mode is unlimited, can use any one known manner.Above-mentioned steps 10211 specifically are can refer to, are repeated no more here.

Step 10222, the depth of view information of the 3rd car plate in the current lane rear images, the adjacent lane are calculated The depth of view information of the 4th car plate in rear images.

Here, by calculating depth of view information, the adjacent lane rear images of the 3rd car plate in current lane rear images In the 4th car plate depth of view information, for follow-up the 3rd distance obtained between vehicle-to-target vehicle corresponding to the 3rd car plate, Support is provided corresponding to 4th car plate.

Wherein, in the depth of view information of the 3rd car plate in calculating current lane rear images, adjacent lane rear images The mode of the depth of view information of 4th car plate is unlimited, can use any one known manner.

Step 10223, according to the depth of view information of the 3rd car plate, obtain vehicle corresponding to the 3rd car plate with it is described The 3rd distance between target vehicle.

Here, according to the depth of view information of the 3rd car plate, vehicle-to-target car corresponding to the 3rd car plate can be accurately obtained The 3rd distance between.

Wherein, the depth of view information of the 3rd car plate includes the camera lens of vehicle and mobile terminal corresponding to the 3rd car plate in picture field Distance in scape, can according to the transformational relation of distance between image scene and real scene, by vehicle corresponding to the 3rd car plate with Distance of the camera lens of mobile terminal in image scene is converted to the distance in real scene.The position of wherein mobile terminal is equivalent In the position of target vehicle, thus can by the camera lens of vehicle and mobile terminal corresponding to the 3rd car plate real scene in away from From being equivalent to corresponding to the 3rd car plate with a distance from vehicle-to-target vehicle, i.e. the 3rd distance.

If it should be noted that it is not detected by car plate in current lane rear images, it is believed that the rear of current lane The 3rd between vehicle-to-target vehicle is at a distance sufficiently large.

Step 10224, according to the depth of view information of the 4th car plate, obtain vehicle corresponding to the 4th car plate with it is described The 4th distance between target vehicle.

Here, according to the depth of view information of the 4th car plate, vehicle-to-target car corresponding to the 4th car plate can be accurately obtained The 4th distance between.

Wherein, the depth of view information of the 4th car plate includes the camera lens of vehicle and mobile terminal corresponding to the 4th car plate in picture field Distance in scape, can according to the transformational relation of distance between image scene and real scene, by vehicle corresponding to the 4th car plate with Distance of the camera lens of mobile terminal in image scene is converted to the distance in real scene.The position of wherein mobile terminal is equivalent In the position of target vehicle, thus can by the camera lens of vehicle and mobile terminal corresponding to the 4th car plate real scene in away from From being equivalent to corresponding to the 4th car plate with a distance from vehicle-to-target vehicle, i.e. the 4th distance.

If it should be noted that it is not detected by car plate in adjacent lane rear images, it is believed that the rear of adjacent lane The 4th between vehicle-to-target vehicle is at a distance sufficiently large.

Optionally, include in above-mentioned steps 1023, the step of the second speed for the front vehicle for obtaining the adjacent lane：

Measure the scheduled time in vehicle corresponding to the 4th car plate relative to target vehicle distance change amount, according to institute Distance change amount and the scheduled time are stated, calculates the speed difference between vehicle-to-target vehicle corresponding to the 4th car plate； According to the First Speed of the target vehicle and the speed difference, obtain vehicle corresponding to the 4th car plate second is fast Degree.

Now, by measure in the scheduled time vehicle (i.e. the front vehicle of adjacent lane) corresponding to the 4th car plate relative to The distance change amount of target vehicle, can calculate the speed difference between the front vehicle of adjacent lane and target vehicle, so as to According to the First Speed and speed difference of target vehicle, the second speed of the front vehicle of adjacent lane can be got.

Wherein, measure the scheduled time in vehicle (i.e. the front vehicle of adjacent lane) corresponding to the 4th car plate relative to target During the distance change amount of vehicle, the adjacent lane rear images of binocular camera continuous acquisition in the scheduled time can be obtained, then The 4th car plate is obtained with reference to the mode that above-mentioned steps 10221-10224 is described according to image after the adjacent lane gathered every time to correspond to Vehicle-to-target vehicle distance, and then obtain in preset time vehicle corresponding to the 4th car plate relative to target vehicle away from From variable quantity.

If it should be noted that it is not detected by car plate in adjacent lane rear images, it is believed that the rear of adjacent lane The speed of vehicle is zero.

In the embodiment of the present invention, lane change miscellaneous function can be triggered when navigation system provides lane change driving information, also can be Target vehicle triggers lane change miscellaneous function when exporting lane change signal, also can be in the adjacent lane lane change to track where target vehicle Do not influence to trigger lane change miscellaneous function during navigation way.It is described below.

Optionally, before above-mentioned steps 101, in addition to：

Step 1001, the lane change for detecting whether to receive navigation system output travels navigation information.

Here, navigation information is travelled by the lane change for detecting whether to receive navigation system output, to determine whether to trigger Lane change miscellaneous function.

Wherein, navigation system can be installed in the navigation system or target vehicle installed on mobile terminal Navigation system.

Step 1002, if receiving, perform by the preposition binocular camera and the rearmounted binocular camera point Cai Ji not rear road conditions image and the step of the road conditions image of front.

Here, if receiving the lane change traveling navigation information of navigation system output, illustrate with lane change demand, then can basis Lane change traveling navigation information determines to treat the adjacent lane of lane change, and performs above-mentioned steps 101, that is, triggers the stream of lane change miscellaneous function Journey, to provide lane change advisory information, ensure the safety that lane change drives.

Or step 1003, detect whether to receive the lane change signal of target vehicle output.

Here, the lane change signal exported by detecting whether to receive target vehicle, to determine whether to trigger lane change auxiliary Function.

Wherein, other electric signals are sent when lane change signal can be the signal or steering operation that steering indicating light is lighted.

Step 1004, if receiving, perform by the preposition binocular camera and the rearmounted binocular camera point Cai Ji not rear road conditions image and the step of the road conditions image of front.

Here, if receiving lane change signal, illustrate with lane change demand, then to be determined to treat the phase of lane change according to lane change signal Adjacent track, and perform above-mentioned steps 101, that is, the flow of lane change miscellaneous function is triggered, to provide lane change advisory information, ensures to become The safety that road drives.

Or step 1005, detect whether the adjacent lane lane change to track where target vehicle influences navigation way.

Here, the navigation road of navigation system whether is influenceed by the adjacent lane lane change in track where detecting target vehicle Line, to determine whether to trigger lane change miscellaneous function.Now, compare congestion mainly for current lane, and fellow road-users compared with Few situation.

Step 1006, if not influenceing, perform by the preposition binocular camera and the rearmounted binocular camera point Cai Ji not rear road conditions image and the step of the road conditions image of front.

Here, if not influenceing navigation way to adjacent lane lane change, above-mentioned steps 101 are performed, that is, trigger lane change auxiliary The flow of function, to provide lane change advisory information, ensure the safety that lane change drives.

In above-mentioned steps 1023, after the First Speed for obtaining the target vehicle, methods described also includes：

Step 104, according to the current weather information and the First Speed obtained in advance, safe distance is determined.

Here, with reference to current weather information and the First Speed of target vehicle, safe distance can rationally be determined.

Specifically, can refer to equation below, safe distance S is determined：

In the weather such as fine day, cloudy day, cloudy：

Rain, snow, the weather such as haze when：

Wherein, V0 is the First Speed of target vehicle.Based on above-mentioned formula：In the weather such as fine day, cloudy day, cloudy, drive Sailing will not be influenceed by weather, now when First Speed is less than or equal to 80km/h, that is, when speed is less fast, may be selected Maximum between 50m and 10* (V0/10) is as safe distance S, when First Speed is more than 80km/h, that is, speed compared with When fast, safe distance S can be defined as 150m.Rain, snow, the weather such as haze when, driving sight, road surface slippery situation degree etc. It can be influenceed by weather, now when First Speed is less than or equal to 80km/h, that is, when speed is less fast, optional 50m Maximum between 20* (V0/10) is as safe distance S, and when First Speed is more than 80km/h, that is, speed is very fast When, safe distance S can be defined as 200m.

Certainly, above-mentioned formula by way of example only, may also set up other standards according to current weather information and first Speed, determine safe distance.

Wherein, current weather information can be obtained by mobile terminal networking.

Step 105, when the described first distance is less than the safe distance, information warning is exported.

Here, when the first distance between target vehicle and the front vehicles of current lane is less than safe distance, output Information warning, can alerting drivers pay attention to increase and leading vehicle distance, to keep safe distance between vehicles, so as to further increase drive Security.

The lane change householder method of the embodiment of the present invention, can be effectively true using the image in the track of binocular camera collection The distance and speed between the vehicle of front and back are determined, so as to effectively determine lane change advisory information and export, so as to be driven for driver's lane change Sail and provide lane change advisory information, complex road condition during driver's reply lane change can be helped, drive safety is improved, avoid The generation of traffic accident.

In some embodiments of the invention, shown in reference picture 5, a kind of mobile terminal 500 is additionally provided.Shown in Fig. 5 Mobile terminal 500, including preposition binocular camera and rearmounted binocular camera, in addition to：

Acquisition module 501, after being gathered respectively by the preposition binocular camera and the rearmounted binocular camera Fang Lukuang images and front road conditions image, the rear road conditions image include current lane rear images and adjacent lane rear figure Picture, the front road conditions image include current lane forward image and adjacent lane forward image；

Acquisition module 502, for according to the rear road conditions image and the front road conditions image, obtaining traffic information；

First output module 503, for according to the traffic information and navigation information, exporting lane change advisory information.

The mobile terminal 500 of the embodiment of the present invention, the image gathered using binocular camera, can effectively it determine rational Lane change advisory information simultaneously exports, and so as to help complex road condition when driver tackles lane change, improves drive safety, keeps away The generation of traffic accident is exempted from.

Optionally, shown in reference picture 6, the acquisition module 502 includes：

First acquisition submodule 5021, for according to the front road conditions image, obtaining the front car of the current lane And the mobile terminal where target vehicle between the first distance, front vehicles and the target of the adjacent lane Second distance between vehicle；

Second acquisition submodule 5022, for according to the rear road conditions image, obtaining the rear car of the current lane The 4th between the 3rd distance, the front vehicle of the adjacent lane and the target vehicle between the target vehicle Distance；

3rd acquisition submodule 5023, after First Speed and the adjacent lane for obtaining the target vehicle The second speed of square vehicle；

Optionally, first output module 503 includes：

Output sub-module 5031, for according to the described first distance, the second distance, the 3rd distance, described the Four distances, the First Speed, the second speed and navigation information, export lane change advisory information.

Optionally, the output sub-module 5031 includes：

Determining unit 50311, for according to the described first distance, the second distance, the 3rd distance, the described 4th Distance, the First Speed, the second speed and navigation information, determine whether suggestion lane change；

Output unit 50312, if for currently suggesting lane change, according to the First Speed and the second speed, Lane change speed is suggested in output, and otherwise, output is current it is not recommended that the prompt message of lane change.

Optionally, the determining unit 50311 includes：

First comparing subunit, for by the described first distance, the second distance, it is described 3rd distance, the described 4th Distance is respectively compared with default safe distance；

Second comparing subunit, for by the First Speed compared with the second speed；

First determination subelement, for as the described first distance, the second distance, the 3rd distance, the described 4th Distance is all higher than the default safe distance, and the First Speed is more than the second speed, and according to the navigation information It is determined that to the adjacent lane lane change do not influence navigation way when, it is determined that currently suggest lane change, otherwise, it determines current it is not recommended that becoming Road.

Optionally, the output unit 50312 includes：

3rd comparing subunit, for by the First Speed compared with the second speed；

Second determination subelement, for being more than the first predetermined threshold value when the difference of the First Speed and the second speed When, it is determined that suggesting that lane change speed is the First Speed, otherwise, it determines suggesting that lane change speed is First Speed increase by second Speed after predetermined threshold value.

Optionally, first acquisition submodule 5021 includes：

First detection unit 50211, for detecting the first car plate in the current lane forward image, the adjacent car The second car plate in road forward image；

First computing unit 50212, for calculate the first car plate in the current lane forward image depth of view information, The depth of view information of the second car plate in the adjacent lane forward image；

First acquisition unit 50213, for the depth of view information according to first car plate, it is corresponding to obtain first car plate Vehicle and the target vehicle between the first distance；

Second acquisition unit 50214, for the depth of view information according to second car plate, it is corresponding to obtain second car plate Vehicle and the target vehicle between second distance；

Second acquisition submodule 5022 includes：

Second detection unit 50221, for detecting the 3rd car plate, the adjacent car in the current lane rear images The 4th car plate in road rear images；

Second computing unit 50222, for calculate the 3rd car plate in the current lane rear images depth of view information, The depth of view information of the 4th car plate in the adjacent lane rear images；

3rd acquiring unit 50223, for the depth of view information according to the 3rd car plate, it is corresponding to obtain the 3rd car plate Vehicle and the target vehicle between the 3rd distance；

4th acquiring unit 50224, for the depth of view information according to the 4th car plate, it is corresponding to obtain the 4th car plate Vehicle and the target vehicle between the 4th distance.

Optionally, the 3rd acquisition submodule 5023 includes：

3rd computing unit 50231, for measuring in the scheduled time vehicle corresponding to the 4th car plate relative to target The distance change amount of vehicle, according to the distance change amount and the scheduled time, calculate vehicle corresponding to the 4th car plate Speed difference between target vehicle；

5th acquiring unit 50232, for the First Speed according to the target vehicle and the speed difference, obtain institute State the second speed of vehicle corresponding to the 4th car plate.

Optionally, mobile terminal 500 also includes：

First detection module, for detecting whether receiving the lane change traveling navigation information of navigation system output；

First execution module, if for receiving, execution passes through the preposition binocular camera and the rearmounted binocular Camera gathers the step of rear road conditions image and front road conditions image respectively；

Or

Second detection module, for detecting whether receiving the lane change signal of target vehicle output；

Second execution module, if for receiving, execution passes through the preposition binocular camera and the rearmounted binocular Camera gathers the step of rear road conditions image and front road conditions image respectively；

Or

Whether the 3rd detection module, the adjacent lane lane change for detecting to track where target vehicle influence road of navigating Line；

3rd execution module, if for not influenceing, execution passes through the preposition binocular camera and the rearmounted binocular Camera gathers the step of rear road conditions image and front road conditions image respectively.

Optionally, mobile terminal 500 also includes：

Determining module 504, for according to the current weather information that obtains in advance and the First Speed, it is determined that safety away from From；

Second output module 505, for when the described first distance is less than the safe distance, exporting information warning.

Mobile terminal provided in an embodiment of the present invention can realize that mobile terminal is realized in Fig. 1 to Fig. 4 embodiment of the method Each process, to avoid repeating, repeat no more here.The mobile terminal 500 of the embodiment of the present invention, is adopted using binocular camera The image in the track of collection, distance and speed between the vehicle of front and back can be effectively determined, so as to effectively determine lane change advisory information And export, lane change advisory information is provided so as to be driven for driver's lane change, complexity during driver's reply lane change can be helped Road conditions, drive safety is improved, avoid the generation of traffic accident.

Fig. 7 is a kind of hardware architecture diagram for the mobile terminal for realizing each embodiment of the present invention.The mobile terminal 700 Including but not limited to：It is radio frequency unit 701, mixed-media network modules mixed-media 702, audio output unit 703, input block 704, sensor 705, aobvious Show the parts such as unit 706, user input unit 707, interface unit 708, memory 709, processor 710 and power supply 711. Input block 704 includes preposition binocular camera and rearmounted binocular camera.It will be understood by those skilled in the art that show in Fig. 7 The mobile terminal structure gone out does not form the restriction to mobile terminal, and mobile terminal can be included than illustrating more or less portions Part, either combine some parts or different parts arrangement.In embodiments of the present invention, mobile terminal includes but is not limited to Mobile phone, tablet personal computer, notebook computer, palm PC, car-mounted terminal, wearable device and pedometer etc..

Wherein, processor 710, for being gathered respectively by the preposition binocular camera and the rearmounted binocular camera Rear road conditions image and front road conditions image, the rear road conditions image include current lane rear images and adjacent lane rear Image, the front road conditions image include current lane forward image and adjacent lane forward image；According to the rear road conditions Image and the front road conditions image, obtain traffic information；According to the traffic information and navigation information, lane change recommendation letter is exported Breath.

The mobile terminal 700 can effectively determine rational lane change advisory information using the image of binocular camera collection And export, so as to help complex road condition when driver tackles lane change, drive safety is improved, avoids traffic accident Generation.

Optionally, processor 710 is additionally operable to：According to the front road conditions image, the front car of the current lane is obtained And the mobile terminal where target vehicle between the first distance, front vehicles and the target of the adjacent lane Second distance between vehicle；According to the rear road conditions image, the front vehicle of the current lane and the target are obtained The 4th distance between the 3rd distance, the front vehicle of the adjacent lane and the target vehicle between vehicle；Obtain institute State the second speed of the First Speed of target vehicle and the front vehicle of the adjacent lane；According to the described first distance, institute Second distance, the 3rd distance, the 4th distance, the First Speed, the second speed and navigation information are stated, it is defeated Go out lane change advisory information.

Optionally, processor 710 is additionally operable to：According to the described first distance, the second distance, the 3rd distance, institute The 4th distance, the First Speed, the second speed and navigation information are stated, determines whether suggestion lane change；It is if current It is recommended that lane change, then suggest lane change speed according to the First Speed and the second speed, output, otherwise, output is current not It is recommended that the prompt message of lane change.

Optionally, processor 710 is additionally operable to：By the described first distance, the second distance, it is described 3rd distance, it is described 4th distance is respectively compared with default safe distance；By the First Speed compared with the second speed；Work as institute State the first distance, the second distance, the 3rd distance, the 4th distance and be all higher than the default safe distance, and institute State First Speed and be more than the second speed, and determine not influence to navigate to the adjacent lane lane change according to the navigation information During route, it is determined that currently suggesting lane change, otherwise, it determines current it is not recommended that lane change.

Optionally, processor 710 is additionally operable to：By the First Speed compared with the second speed；When described When the difference of one speed and the second speed is more than the first predetermined threshold value, it is determined that suggest that lane change speed is the First Speed, Otherwise, it determines suggest that lane change speed is that the First Speed increases the speed after the second predetermined threshold value.

Optionally, processor 710 is additionally operable to：Detect the first car plate in the current lane forward image, described adjacent The second car plate in the forward image of track；Calculate the depth of view information, described of the first car plate in the current lane forward image The depth of view information of the second car plate in adjacent lane forward image；According to the depth of view information of first car plate, described the is obtained The first distance corresponding to one car plate between vehicle and the target vehicle；According to the depth of view information of second car plate, obtain Second distance corresponding to second car plate between vehicle and the target vehicle；Detect in the current lane rear images The 3rd car plate, the 4th car plate in the adjacent lane rear images；Calculate the 3rd in the current lane rear images The depth of view information of car plate, the depth of view information of the 4th car plate in the adjacent lane rear images；According to the 3rd car plate Depth of view information, obtain the 3rd distance between vehicle and the target vehicle corresponding to the 3rd car plate；According to the described 4th The depth of view information of car plate, obtain the 4th distance between vehicle and the target vehicle corresponding to the 4th car plate.

Optionally, processor 710 is additionally operable to：Vehicle corresponding to the 4th car plate is relative to target in the measurement scheduled time The distance change amount of vehicle, according to the distance change amount and the scheduled time, calculate vehicle corresponding to the 4th car plate Speed difference between target vehicle；According to the First Speed of the target vehicle and the speed difference, the described 4th is obtained The second speed of vehicle corresponding to car plate.

Optionally, processor 710 is additionally operable to：It is described to pass through the preposition binocular camera and the rearmounted binocular camera Before gathering rear road conditions image and front road conditions image respectively, detect whether that the lane change traveling for receiving navigation system output is led Boat information；If receiving, perform and rear is gathered by the preposition binocular camera and the rearmounted binocular camera respectively The step of road conditions image and front road conditions image；Or detect whether to receive the lane change signal of target vehicle output；If receive Arrive, then perform and rear road conditions image and front are gathered by the preposition binocular camera and the rearmounted binocular camera respectively The step of road conditions image；Or whether the adjacent lane lane change detected to track where target vehicle influences navigation way；If no Influence, then perform and rear road conditions image is gathered with before by the preposition binocular camera and the rearmounted binocular camera respectively The step of Fang Lukuang images.

Optionally, processor 710 is additionally operable to：After the First Speed for obtaining the target vehicle, according to obtaining in advance The current weather information and the First Speed taken, determines safe distance；When the described first distance is less than the safe distance When, export information warning.

It should be understood that in the embodiment of the present invention, radio frequency unit 701 can be used for receiving and sending messages or communication process in, signal Reception and transmission, specifically, by from base station downlink data receive after, handled to processor 710；In addition, will be up Data are sent to base station.Generally, radio frequency unit 701 includes but is not limited to antenna, at least one amplifier, transceiver, coupling Device, low-noise amplifier, duplexer etc..In addition, radio frequency unit 701 can also by wireless communication system and network and other set Standby communication.

Mobile terminal has provided the user wireless broadband internet by mixed-media network modules mixed-media 702 and accessed, and such as helps user to receive Send e-mails, browse webpage and access streaming video etc..

Audio output unit 703 can be receiving by radio frequency unit 701 or mixed-media network modules mixed-media 702 or in memory 709 It is sound that the voice data of storage, which is converted into audio signal and exported,.Moreover, audio output unit 703 can also be provided and moved The audio output for the specific function correlation that dynamic terminal 700 performs is (for example, call signal receives sound, message sink sound etc. Deng).Audio output unit 703 includes loudspeaker, buzzer and receiver etc..

Input block 704 is used to receive audio or video signal.Input block 704 can include graphics processor (Graphics Processing Unit, GPU) 7041 and microphone 7042, graphics processor 7041 is in video acquisition mode Or the static images or the view data of video obtained in image capture mode by image capture apparatus (such as camera) are carried out Reason.Picture frame after processing may be displayed on display unit 706.Picture frame after the processing of graphics processor 7041 can be deposited Storage is transmitted in memory 709 (or other storage mediums) or via radio frequency unit 701 or mixed-media network modules mixed-media 702.Mike Wind 7042 can receive sound, and can be voice data by such acoustic processing.Voice data after processing can be The form output of mobile communication base station can be sent to via radio frequency unit 701 by being converted in the case of telephone calling model.

Mobile terminal 700 also includes at least one sensor 705, such as optical sensor, motion sensor and other biographies Sensor.Specifically, optical sensor includes ambient light sensor and proximity transducer, wherein, ambient light sensor can be according to environment The light and shade of light adjusts the brightness of display panel 7061, and proximity transducer can close when mobile terminal 700 is moved in one's ear Display panel 7061 and/or backlight.As one kind of motion sensor, accelerometer sensor can detect in all directions (general For three axles) size of acceleration, size and the direction of gravity are can detect that when static, available for identification mobile terminal posture (ratio Such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap)；Pass Sensor 705 can also include fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer, wet Meter, thermometer, infrared ray sensor etc. are spent, will not be repeated here.

Display unit 706 is used for the information for showing the information inputted by user or being supplied to user.Display unit 706 can wrap Display panel 7061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode can be used Forms such as (Organic Light-Emitting Diode, OLED) configures display panel 7061.

User input unit 707 can be used for the numeral or character information for receiving input, and produce the use with mobile terminal The key signals input that family is set and function control is relevant.Specifically, user input unit 707 include contact panel 7071 and Other input equipments 7072.Contact panel 7071, also referred to as touch-screen, collect touch operation of the user on or near it (for example user uses any suitable objects or annex such as finger, stylus on contact panel 7071 or in contact panel 7071 Neighbouring operation).Contact panel 7071 may include both touch detecting apparatus and touch controller.Wherein, touch detection Device detects the touch orientation of user, and detects the signal that touch operation is brought, and transmits a signal to touch controller；Touch control Device processed receives touch information from touch detecting apparatus, and is converted into contact coordinate, then gives processor 710, receiving area Manage the order that device 710 is sent and performed.It is furthermore, it is possible to more using resistance-type, condenser type, infrared ray and surface acoustic wave etc. Type realizes contact panel 7071.Except contact panel 7071, user input unit 707 can also include other input equipments 7072.Specifically, other input equipments 7072 can include but is not limited to physical keyboard, function key (such as volume control button, Switch key etc.), trace ball, mouse, action bars, will not be repeated here.

Further, contact panel 7071 can be covered on display panel 7061, when contact panel 7071 is detected at it On or near touch operation after, send processor 710 to determine the type of touch event, be followed by subsequent processing device 710 according to touch The type for touching event provides corresponding visual output on display panel 7061.Although in the figure 7, contact panel 7071 and display Panel 7061 is the part independent as two to realize the input of mobile terminal and output function, but in some embodiments In, can be integrated by contact panel 7071 and display panel 7061 and realize input and the output function of mobile terminal, it is specific this Place does not limit.

Interface unit 708 is the interface that external device (ED) is connected with mobile terminal 700.For example, external device (ED) can include Line or wireless head-band earphone port, external power source (or battery charger) port, wired or wireless FPDP, storage card end Mouth, port, audio input/output (I/O) port, video i/o port, earphone end for connecting the device with identification module Mouthful etc..Interface unit 708 can be used for receive the input (for example, data message, electric power etc.) from external device (ED) and One or more elements that the input received is transferred in mobile terminal 700 can be used in the He of mobile terminal 700 Data are transmitted between external device (ED).

Memory 709 can be used for storage software program and various data.Memory 709 can mainly include storing program area And storage data field, wherein, storing program area can storage program area, application program (such as the sound needed at least one function Sound playing function, image player function etc.) etc.；Storage data field can store according to mobile phone use created data (such as Voice data, phone directory etc.) etc..In addition, memory 709 can include high-speed random access memory, can also include non-easy The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.

Processor 710 is the control centre of mobile terminal, utilizes each of various interfaces and the whole mobile terminal of connection Individual part, by running or performing the software program and/or module that are stored in memory 709, and call and be stored in storage Data in device 709, the various functions and processing data of mobile terminal are performed, so as to carry out integral monitoring to mobile terminal.Place Reason device 710 may include one or more processing units；Preferably, processor 710 can integrate application processor and modulatedemodulate is mediated Device is managed, wherein, application processor mainly handles operating system, user interface and application program etc., and modem processor is main Handle radio communication.It is understood that above-mentioned modem processor can not also be integrated into processor 710.

Mobile terminal 700 can also include the power supply 711 (such as battery) to all parts power supply, it is preferred that power supply 711 Can be logically contiguous by power-supply management system and processor 710, so as to realize management charging by power-supply management system, put The function such as electricity and power managed.

In addition, mobile terminal 700 includes some unshowned functional modules, will not be repeated here.

Preferably, the embodiment of the present invention also provides a kind of mobile terminal, including processor 710, memory 709, is stored in On memory 709 and the computer program that can be run on the processor 710, the computer program are performed by processor 710 Each process of the above-mentioned lane change householder method embodiments of Shi Shixian, and identical technique effect can be reached, to avoid repeating, here Repeat no more.

The embodiment of the present invention also provides a kind of computer-readable recording medium, and meter is stored with computer-readable recording medium Calculation machine program, the computer program realize each process of above-mentioned lane change householder method embodiment, and energy when being executed by processor Reach identical technique effect, to avoid repeating, repeat no more here.Wherein, described computer-readable recording medium, such as only Read memory (Read-Only Memory, abbreviation ROM), random access memory (Random Access Memory, abbreviation RAM), magnetic disc or CD etc..

It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row His property includes, so that process, method, article or device including a series of elements not only include those key elements, and And also include the other element being not expressly set out, or also include for this process, method, article or device institute inherently Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this Other identical element also be present in the process of key element, method, article or device.

Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases The former is more preferably embodiment.Based on such understanding, technical scheme is substantially done to prior art in other words Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium In (such as ROM/RAM, magnetic disc, CD), including some instructions to cause a station terminal (can be mobile phone, computer, service Device, air conditioner, or network equipment etc.) perform method described in each embodiment of the present invention.

Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot Form, belong within the protection of the present invention.

Claims (14)

1. a kind of lane change householder method, it is characterised in that applied to mobile terminal, the mobile terminal includes preposition binocular camera shooting Head and rearmounted binocular camera, methods described include：

Rear road conditions image and front road conditions are gathered by the preposition binocular camera and the rearmounted binocular camera respectively Image, the rear road conditions image include current lane rear images and adjacent lane rear images, the front road conditions image Including current lane forward image and adjacent lane forward image；

According to the rear road conditions image and the front road conditions image, traffic information is obtained；

According to the traffic information and navigation information, lane change advisory information is exported.

2. according to the method for claim 1, it is characterised in that described according to the rear road conditions image and the front road Condition image, obtain traffic information the step of include：

According to the front road conditions image, the front vehicles of the current lane and the target carriage where the mobile terminal are obtained The second distance between the first distance, the front vehicles of the adjacent lane and the target vehicle between；

According to the rear road conditions image, obtain between the front vehicle of the current lane and the target vehicle the 3rd away from With a distance from the 4th between, the front vehicle of the adjacent lane and the target vehicle；

Obtain the second speed of the First Speed of the target vehicle and the front vehicle of the adjacent lane；

It is described according to the traffic information and navigation information, the step of exporting lane change advisory information, includes：

According to the described first distance, second distance, the 3rd distance, the 4th distance, the First Speed, described Second speed and navigation information, export lane change advisory information.

3. according to the method for claim 2, it is characterised in that described according to the described first distance, the second distance, institute The 3rd distance, the 4th distance, the First Speed, the second speed and navigation information are stated, exports lane change recommendation letter The step of breath, includes：

According to the described first distance, second distance, the 3rd distance, the 4th distance, the First Speed, described Second speed and navigation information, determine whether suggestion lane change；

If currently suggesting lane change, according to the First Speed and the second speed, lane change speed is suggested in output, otherwise, Output is current it is not recommended that the prompt message of lane change.

4. according to the method for claim 3, it is characterised in that described according to the described first distance, the second distance, institute The 3rd distance, the 4th distance, the First Speed, the second speed and navigation information are stated, determines whether to build The step of discussing lane change includes：

Described first distance, the second distance, the 3rd distance, the 4th distance are entered with default safe distance respectively Row compares；

By the First Speed compared with the second speed；

When the described first distance, the second distance, it is described 3rd distance, the 4th distance be all higher than the default safety away from From, and the First Speed is more than the second speed, and determined according to the navigation information to the adjacent lane lane change not When influenceing navigation way, it is determined that currently suggesting lane change, otherwise, it determines current it is not recommended that lane change.

5. according to the method for claim 3, it is characterised in that defeated according to the First Speed and the second speed The step of going out suggestion lane change speed includes：

By the First Speed compared with the second speed；

When the difference of the First Speed and the second speed is more than the first predetermined threshold value, it is determined that suggesting that lane change speed is institute First Speed is stated, otherwise, it determines suggesting that lane change speed is that the First Speed increases the speed after the second predetermined threshold value.

6. according to the method for claim 2, it is characterised in that it is described according to the front road conditions image, obtain described work as The first distance between target vehicle where the front vehicles in preceding track and the mobile terminal, the front of the adjacent lane The step of second distance between vehicle and the target vehicle, includes：

Detect the first car plate in the current lane forward image, the second car plate in the adjacent lane forward image；

Calculate in the depth of view information of the first car plate in the current lane forward image, the adjacent lane forward image The depth of view information of two car plates；

According to the depth of view information of first car plate, obtain corresponding to first car plate between vehicle and the target vehicle First distance；

According to the depth of view information of second car plate, obtain corresponding to second car plate between vehicle and the target vehicle Second distance；

It is described according to the rear road conditions image, obtain between the front vehicle of the current lane and the target vehicle Three distances, the between the front vehicle of the adjacent lane and the target vehicle the 4th apart from the step of include：

Detect the 3rd car plate in the current lane rear images, the 4th car plate in the adjacent lane rear images；

Calculate in the depth of view information of the 3rd car plate in the current lane rear images, the adjacent lane rear images The depth of view information of four car plates；

According to the depth of view information of the 3rd car plate, obtain corresponding to the 3rd car plate between vehicle and the target vehicle 3rd distance；

According to the depth of view information of the 4th car plate, obtain corresponding to the 4th car plate between vehicle and the target vehicle 4th distance.

A kind of 7. mobile terminal, it is characterised in that including preposition binocular camera and rearmounted binocular camera, in addition to：

Acquisition module, for gathering rear road conditions figure respectively by the preposition binocular camera and the rearmounted binocular camera Picture and front road conditions image, the rear road conditions image includes current lane rear images and adjacent lane rear images, described Front road conditions image includes current lane forward image and adjacent lane forward image；

Acquisition module, for according to the rear road conditions image and the front road conditions image, obtaining traffic information；

First output module, for according to the traffic information and navigation information, exporting lane change advisory information.

8. mobile terminal according to claim 7, it is characterised in that the acquisition module includes：

First acquisition submodule, for according to the front road conditions image, obtain the front vehicles of the current lane with it is described Between the first distance, the front vehicles of the adjacent lane and the target vehicle between target vehicle where mobile terminal Second distance；

Second acquisition submodule, for according to the rear road conditions image, obtain the front vehicle of the current lane with it is described The 4th distance between the 3rd distance, the front vehicle of the adjacent lane and the target vehicle between target vehicle；

3rd acquisition submodule, for obtaining the First Speed of the target vehicle and the front vehicle of the adjacent lane Second speed；

First output module includes：

Output sub-module, for according to the described first distance, the second distance, the 3rd distance, the 4th distance, institute First Speed, the second speed and navigation information are stated, exports lane change advisory information.

9. mobile terminal according to claim 8, it is characterised in that the output sub-module includes：

Determining unit, for according to the described first distance, the second distance, it is described 3rd distance, it is described 4th distance, it is described First Speed, the second speed and navigation information, determine whether suggestion lane change；

Output unit, if for currently suggesting lane change, according to the First Speed and the second speed, output is suggested becoming Road speed, otherwise, output are current it is not recommended that the prompt message of lane change.

10. mobile terminal according to claim 9, it is characterised in that the determining unit includes：

First comparing subunit, for by the described first distance, the second distance, it is described 3rd distance, the 4th distance Respectively compared with default safe distance；

Second comparing subunit, for by the First Speed compared with the second speed；

First determination subelement, for when the described first distance, the second distance, the 3rd distance, the 4th distance The default safe distance is all higher than, and the First Speed is more than the second speed, and determined according to the navigation information When not influenceing navigation way to the adjacent lane lane change, it is determined that currently suggesting lane change, otherwise, it determines current it is not recommended that lane change.

11. mobile terminal according to claim 9, it is characterised in that the output unit includes：

3rd comparing subunit, for by the First Speed compared with the second speed；

Second determination subelement, for when the difference of the First Speed and the second speed is more than the first predetermined threshold value, It is determined that suggest that lane change speed is the First Speed, otherwise, it determines suggesting that lane change speed is that First Speed increase by second is pre- If the speed after threshold value.

12. mobile terminal according to claim 8, it is characterised in that first acquisition submodule includes：

First detection unit, for detecting the first car plate in the current lane forward image, adjacent lane front is schemed The second car plate as in；

First computing unit, for calculating the depth of view information, described adjacent of the first car plate in the current lane forward image The depth of view information of the second car plate in the forward image of track；

First acquisition unit, for the depth of view information according to first car plate, obtain vehicle corresponding to first car plate with The first distance between the target vehicle；

Second acquisition unit, for the depth of view information according to second car plate, obtain vehicle corresponding to second car plate with Second distance between the target vehicle；

Second acquisition submodule includes：

Second detection unit, for detecting the 3rd car plate, adjacent lane rear figure in the current lane rear images The 4th car plate as in；

Second computing unit, for calculating the depth of view information, described adjacent of the 3rd car plate in the current lane rear images The depth of view information of the 4th car plate in the rear images of track；

3rd acquiring unit, for the depth of view information according to the 3rd car plate, obtain vehicle corresponding to the 3rd car plate with The 3rd distance between the target vehicle；

4th acquiring unit, for the depth of view information according to the 4th car plate, obtain vehicle corresponding to the 4th car plate with The 4th distance between the target vehicle.

13. a kind of mobile terminal, it is characterised in that including processor, memory and be stored on the memory and can be in institute The computer program run on processor is stated, the computer program is realized such as claim 1 to 6 during the computing device Any one of lane change householder method the step of.

14. a kind of computer-readable recording medium, it is characterised in that be stored with computer on the computer-readable recording medium Program, the lane change householder method as any one of claim 1 to 6 is realized when the computer program is executed by processor The step of.