CN108482377A - A kind of automatic lane change method and its system based on train flow analysis - Google Patents
A kind of automatic lane change method and its system based on train flow analysis Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005206 flow analysis Methods 0.000 title claims abstract description 22
- 238000000605 extraction Methods 0.000 claims description 17
- 239000000284 extract Substances 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 4
- 238000012216 screening Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000981 bystander Effects 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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Abstract
A kind of automatic lane change method and its system based on train flow analysis obtain the image of current vehicle left front and using image as the first image；Obtain the image of current vehicle right front and using image as the second image；If current vehicle is in Through Lane, extracted the track residing for current vehicle as first lane；Calculate the vehicle fleet size in first lane and using vehicle fleet size as the first quantity；If being Through Lane on the left of first lane, extracted the Through Lane on the left of first lane as second lane；Calculate the vehicle fleet size in second lane and using vehicle fleet size as the second quantity；If whether being Through Lane on the right side of first lane, extracted the Through Lane on the right side of first lane as third lane；Calculate the vehicle fleet size in third lane and using vehicle fleet size as third quantity；The magnitude relationship of more above-mentioned three；It is extracted including the minimum Through Lane of vehicle fleet size as Four-Lane Road；Current vehicle is controlled to Four-Lane Road lane change.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of automatic lane change method based on train flow analysis and its it is
System.
Background technology
City road is provided with a large amount of traffic lights, and different routes adhere to different tracks separately, and driver is according to vehicle
Travel route selects suitable track, and reasonable lane change can effectively shorten driving time.Especially in the region of traffic lights intersection,
It is be easy to cause traffic congestion, during red light is waited in rectilinear stretch, if the vehicle waited in front of current vehicle is more,
It then will have a direct impact on the start-up time of front vehicle.Driver can not observe all vehicles in front, therefore can not be according to front
Car flow information select suitable lane in advance, if when closing on red light unexpected lane change then very likely cause traffic thing
Therefore.
In addition to this, there are many various not reliable lane change phenomenons on present road, so also having caused many in hot pursuit or having rubbed
The reason of traffic accident of wiping, wherein most traffic accident is the carelessness of driver, and part driver does not have security concept, happiness
Vigorously have no the lane change of omen, bystander allowed to be caught unprepared, this behavior bitten off one's own head, it is careless slightly will result in it is miserable
Traffic accident, so having to strictly administer above-mentioned phenomenon.
Invention content
Goal of the invention：In order to overcome the disadvantage in background technology, an embodiment of the present invention provides one kind being based on train flow analysis
Automatic lane change method and its system, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of automatic lane change method based on train flow analysis, includes the following steps：
101：It obtains the image of current vehicle left front and is stored the image as the first image；
102：It obtains the image of current vehicle right front and is stored the image as the second image；
103：Judge whether current vehicle is in Through Lane according to first image and second image；
104：If so, the track residing for current vehicle is extracted as first lane；
105：The vehicle in the first lane and in front of current vehicle is calculated according to first image and the second image
Quantity is simultaneously stored the vehicle fleet size as the first quantity；
106：Judge whether on the left of the first lane be Through Lane；
107：If so, the Through Lane on the left of the first lane is extracted as second lane；
108：It is calculated in the second lane according to first image and the vehicle fleet size in front of current vehicle and by institute
Vehicle fleet size is stated to be stored as the second quantity；
109：Judge whether on the right side of the first lane be Through Lane；
110：If so, the Through Lane on the right side of the first lane is extracted as third lane；
111：It is calculated in the third lane according to second image and the vehicle fleet size in front of current vehicle and by institute
Vehicle fleet size is stated to be stored as third quantity；
112：Compare and obtains first quantity, the magnitude relationship of second quantity and the third quantity；
113：It is extracted including the minimum Through Lane of vehicle fleet size as Four-Lane Road；
114：Current vehicle is controlled to the Four-Lane Road lane change.
As a kind of preferred embodiment of the present invention, current vehicle is judged according to first image and second image
Whether in Through Lane further include：
Obtain the travel route of current vehicle；
It extracts the position of current vehicle and the position is marked as first position；
It extracts the position at the steering crossing in the travel route and the position is marked as the second position；
Judge whether positioned at next crossing of current vehicle travel direction be to turn to crossing；
If so, control current vehicle is in advance to added turning lane lane change.
As a kind of preferred embodiment of the present invention, carried out including the minimum Through Lane of vehicle fleet size as Four-Lane Road
Extraction further includes：
Preset quantity is set, lane change is then carried out when the difference of the vehicle fleet size between track is less than or equal to preset quantity；
Calculate the difference of the vehicle fleet size and first quantity of Four-Lane Road；
Judge whether the difference is greater than or equal to preset quantity；
If so, controlling current vehicle to the Four-Lane Road lane change.
As a kind of preferred embodiment of the present invention, control current vehicle further includes before to the Four-Lane Road lane change：
The traveling trend of current vehicle is obtained, the traveling trend includes travel direction and travel speed；
Judge whether the travel speed is more than the first default safe speed；
If so, the travel speed of control current vehicle is reduced to the first default safe speed.
As a kind of preferred embodiment of the present invention, carried out including the minimum Through Lane of vehicle fleet size as Four-Lane Road
Extraction further includes：
Obtain in Four-Lane Road and positioned at the image at current vehicle side and rear and using the image as third image into
Row storage；
Extract the vehicle in the third image positioned at forefront and as rear car；
Calculate the distance between the rear car and current vehicle；
Judge whether the distance is greater than or equal to default safe distance；
If so, obtaining the travel speed of rear car；
Judge whether the travel speed is less than or equal to the second default safe speed；
If so, controlling current vehicle to the Four-Lane Road lane change.
A kind of automatic lane change system based on train flow analysis, including：
First image acquiring module is configured as obtaining the image of current vehicle left front and using the image as the first shadow
Picture；
Second image acquiring module is configured as obtaining the image of current vehicle right front and using the image as the second shadow
Picture；
First judgment module is configured as judging whether current vehicle is in Through Lane；
First extraction module is configured as extracting the track residing for current vehicle as first lane；
First computing module, the vehicle fleet size for being configured as calculating in first lane and in front of the current vehicle and by the vehicle
Quantity is as the first quantity；
Second judgment module is configured as judging whether on the left of first lane be Through Lane；
Second extraction module is configured as extracting the Through Lane on the left of first lane as second lane；
Second computing module, the vehicle fleet size for being configured as calculating in second lane and in front of the current vehicle and by the vehicle
Quantity is as the second quantity；
Third judgment module is configured as judging whether on the right side of first lane be Through Lane；
Third extraction module is configured as extracting the Through Lane on the right side of first lane as third lane；
Third computing module is configured as meter and states vehicle fleet size in third lane and in front of current vehicle and by the vehicle
Quantity is as third quantity；
Quantity comparison module, is configured as comparing and obtains the first quantity, the magnitude relationship of the second quantity and third quantity；
4th extraction module is configured as including that the minimum Through Lane of vehicle fleet size is extracted as Four-Lane Road；
Lane change module is configured as control current vehicle to the Four-Lane Road lane change.
As a kind of preferred embodiment of the present invention, further include：
Travel route acquisition module is configured as taking the travel route of current vehicle；
First position mark module is configured as extracting the position of current vehicle and be carried out the position as first position
Label；
Second position mark module, be configured as extracting in travel route steering crossing position and using the position as
The second position is marked；
4th judgment module is configured as judging whether positioned at next crossing of current vehicle travel direction be to turn to crossing.
As a kind of preferred embodiment of the present invention, further include：
4th computing module is configured as calculating the difference of the vehicle fleet size and first quantity of Four-Lane Road；
5th judgment module is configured as judging whether the difference that the 4th computing module is calculated is less than or equal to present count
Amount.
As a kind of preferred embodiment of the present invention, further include：
Traveling trend acquisition module is configured as obtaining the travel direction and travel speed of current vehicle；
6th judgment module, is configured as judging whether the travel speed of current vehicle is more than the first default safe speed；
Slowdown module, the travel speed for being configured as control current vehicle are reduced to the first default safe speed.
As a kind of preferred embodiment of the present invention, further include：
Third image acquiring module is configured as obtaining image in Four-Lane Road and positioned at current vehicle side and rear simultaneously
Using the image as third image；
5th extraction module is configured as extracting in third image and is located at the vehicle of forefront and as rear car；
5th computing module is configured as calculating the distance between rear car and current vehicle；
7th judgment module is configured as judging whether the distance that the 5th computing module is calculated is greater than or equal to default safety
Distance；
Rear car speed acquiring module is configured as obtaining the travel speed of rear car；
8th judgment module, is configured as judging whether the travel speed of rear car is less than or equal to the second default safe speed.
The present invention realizes following advantageous effect：
A kind of automatic lane change method based on train flow analysis provided by the invention being capable of straight traffic residing for automatic identification current vehicle
The Through Lane of road both sides helps current vehicle preferentially to select to the less Through Lane lane change of vehicle fleet size；Obtain current vehicle
Travel route, and further obtain the real time position of current vehicle and current vehicle in the travel route needs to turn
To crossing, in advance help current vehicle to turn to crossing lane change；The present invention increases intelligent screening method in the selection in track,
The Through Lane of the vehicle fleet size extracted minimum is further judged, is calculated residing for above-mentioned Through Lane and current vehicle
The difference of the vehicle fleet size in track when the difference is greater than or equal to preset quantity, then controls current vehicle to the described 4th
Lane；Lane change condition criterion is carried out before lane change, the lane change condition includes rear car travel speed and rear car and current vehicle
The distance between, a vehicle can be avoided to knock into the back.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is provided by the invention a kind of based on the automatic of train flow analysis
Lane change method flow diagram；
Fig. 2 is current vehicle travel speed determination method flow chart before lane change provided by the invention；
Fig. 3 is provided by the invention in advance to the lane change method flow diagram of added turning lane；
Fig. 4 is Four-Lane Road intelligent screening method flow diagram provided by the invention；
Fig. 5 is lane change condition judging method flow chart provided by the invention.
Fig. 6 is a kind of automatic lane change system structure diagram based on train flow analysis provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, a kind of automatic lane change method based on train flow analysis, includes the following steps：
101：It obtains the image of current vehicle left front and is stored image as the first image；
102：It obtains the image of current vehicle right front and is stored image as the second image；
103：Judge whether current vehicle is in Through Lane according to the first image and the second image；
104：If so, the track residing for current vehicle is extracted as first lane；
105：The vehicle fleet size in first lane and in front of current vehicle is calculated according to the first image and the second image simultaneously
It is stored vehicle fleet size as the first quantity；
106：Judge whether on the left of first lane be Through Lane；
107：If so, the Through Lane on the left of first lane is extracted as second lane；
108：The vehicle fleet size in second lane and in front of current vehicle is calculated according to the first image and makees vehicle fleet size
It is stored for the second quantity；
109：Judge whether on the right side of first lane be Through Lane；
110：If so, the Through Lane on the right side of first lane is extracted as third lane；
111：The vehicle fleet size in third lane and in front of current vehicle is calculated according to the second image and makees vehicle fleet size
It is stored for third quantity；
112：Compare and obtains the first quantity, the magnitude relationship of the second quantity and third quantity；
113：It is extracted including the minimum Through Lane of vehicle fleet size as Four-Lane Road；
114：Current vehicle is controlled to Four-Lane Road lane change.
As shown in Fig. 2, control current vehicle further includes before to Four-Lane Road lane change：
The traveling trend of current vehicle is obtained, traveling trend includes travel direction and travel speed；
Judge whether travel speed is more than the first default safe speed；
If so, the travel speed of control current vehicle is reduced to the first default safe speed.
Specifically, it in step S101, is shot by being set to the first camera on the left of current vehicle below rearview mirror
The image of current vehicle left front, and individually stored image as the first image, the first image includes current vehicle
In left-hand lane in the right side of front vehicles and residing track front vehicles left side.
In step s 102, current vehicle is shot by being set to the second camera below current vehicle right rear
The image of right front, and individually stored image as the second image, the second image includes current vehicle right-hand lane
The right side of front vehicles in the left side of interior front vehicles and residing track.
In step s 103, other than the fixed left turn lane in both sides and right-turn lane, vehicle is in intermediate Through Lane
When driving can be with changing Lane to improve running efficiency, the pavement strip that includes according to the first image and the second image is sentenced
Whether disconnected current vehicle is in Through Lane.
In step S104, if current vehicle is in rectilinear stretch, the track residing for current vehicle is defined as first
Track, and first lane is extracted.
In step S105, lane change method provided by the invention is based on the vehicle fleet size in each track, it is therefore desirable to calculate
The vehicle fleet size in track and adjacent columns track residing for current vehicle, passes through the right part of the first image and second
The left side of image calculates the vehicle fleet size in first lane and in front of current vehicle, which is defined as first
Quantity is calculated two values by the first image and the second image, terminates to calculate when two values are consistent, if calculating
As a result inconsistent, then it recalculates.
In step s 106, judge whether the left-hand lane of first lane is Through Lane according to the first image.
In step s 107, if the left-hand lane of first lane is Through Lane, by Through Lane on the left of first lane
It is defined as second lane, and second lane is extracted.
In step S108, it is calculated in second lane according to the left part of the first image and before current vehicle
The vehicle fleet size of side, the second quantity is defined as by the vehicle fleet size.
In step S109, judge whether the right-hand lane of the first vehicle is Through Lane according to the second image.
In step s 110, if the right-hand lane of first lane is Through Lane, by Through Lane on the right side of first lane
It is defined as third lane, and third lane is extracted.
In step S111, it is calculated in third lane according to the right part of the second image and before current vehicle
The vehicle fleet size of side, third quantity is defined as by the vehicle fleet size.
In step S112, the first quantity, the second quantity and third quantity are extracted, and judge the size of above-mentioned three
Relationship compares the vehicle fleet size in front of current vehicle in first lane, second lane and third lane.
In step S113, a vehicle fleet size of numerical value minimum is extracted, is further extracted according to the vehicle fleet size
The Through Lane is positioned as Four-Lane Road by corresponding Through Lane；
In step S114, the control of current vehicle control system is obtained, controls current vehicle to Four-Lane Road lane change.
Before step S114, the first default safe speed is set, the travel speed of current vehicle is less than or equal to first
When default safe speed, automatic lane change can be started, if before current vehicle prepares lane change, the travel speed of acquisition is more than the
One default safe speed, then obtain the control of current vehicle control system, and the travel speed for controlling current vehicle is reduced to
Restart automatic lane change when one default safe speed.
Embodiment two
As shown in figure 3, according to the first image and the second image judge current vehicle whether in Through Lane further include：
Obtain the travel route of current vehicle；
It extracts the position of current vehicle and is marked position as first position；
It extracts the position at the steering crossing in travel route and is marked position as the second position；
Judge whether positioned at next crossing of current vehicle travel direction be to turn to crossing；
If so, control current vehicle is in advance to added turning lane lane change.
Specifically, road traffic pressure is increasingly serious at present, especially at peak period on and off duty, part straight trip driver's meeting
Selection ignore lane change prompting, in order to avoid close on turn to crossing when can not lane change, the present invention provide shift to an earlier date lane change method, having
Enter added turning lane under the premise of lane change condition in advance.The travel route that current vehicle is obtained by GPS navigation system, extracts
Real time position is simultaneously positioned as first position by the real time position of current vehicle, and first position is imported travel route, on traveling road
All positions for turning to crossing are extracted in line, the position for turning to crossing are defined as the second position, by the second position and first
Position is distinguished, and judges whether positioned at next crossing of current vehicle travel direction be to turn according to first position and the second position
To crossing, i.e., closest to whether needing to turn at the traffic lights of current vehicle, turned to if so, being extracted from travel route
Direction controls current vehicle to the steering direction lane change.
Embodiment three
As shown in figure 4, further including using being extracted as Four-Lane Road including the minimum Through Lane of vehicle fleet size：
Preset quantity is set, lane change is then carried out when the difference of the vehicle fleet size between track is less than or equal to preset quantity；
Calculate the difference of the vehicle fleet size and the first quantity of Four-Lane Road；
Judge whether difference is greater than or equal to preset quantity；
If so, controlling current vehicle to Four-Lane Road lane change.
As shown in figure 5, further including using being extracted as Four-Lane Road including the minimum Through Lane of vehicle fleet size：
It obtains in Four-Lane Road and is located at the image of current vehicle side and rear and deposited image as third image
Storage；
Extract the vehicle in third image positioned at forefront and as rear car；
Calculate the distance between rear car and current vehicle；
Judge whether distance is greater than or equal to default safe distance；
If so, obtaining the travel speed of rear car；
Judge whether travel speed is less than or equal to the second default safe speed；
If so, controlling current vehicle to Four-Lane Road lane change.
Specifically, the present invention is preferentially selected to the less Through Lane lane change of vehicle fleet size, but just per more lane changes
Increase a danger, while increasing by one point of traffic pressure, increases intelligent screening method in choosing lane of the present invention, pass through present count
Amount judges whether to need to the less Through Lane lane change of vehicle fleet size.Extract the corresponding vehicle fleet size of Four-Lane Road, vehicle
Quantity is the second quantity or third quantity, calculates the difference of the vehicle fleet size and the first quantity, and difference is front adjacent lane
The difference of interior vehicle fleet size, difference is smaller, shows that vehicle fleet size is closer in two tracks, the meaning of lane change is smaller, judges the difference
Whether value is greater than or equal to preset quantity, if so, by screening, can carry out lane change to Four-Lane Road.For example, preset quantity is
2, vehicle fleet size is 5 in Four-Lane Road, and vehicle fleet size is 8 in first lane, then the first quantity is 8, the difference both being calculated
Value is 3, which is more than preset quantity, then can start automatic lane change.
The present invention can start automatic lane change when current vehicle meets lane change condition, in lane change conditioned reference Four-Lane Road
The motion state of vehicle, lane change condition include the travel speed of vehicle in the distance between two vehicles and Four-Lane Road.Adjustment the
The shooting angle of one camera or second camera makes it rearward rotate 180 degree, obtains current vehicle side and rear
Image is simultaneously defined as third image, extracts the vehicle in third image positioned at forefront and is defined as rear car, if
A fixed default safe distance and default safe speed, default safe distance are at least twice of current vehicle length of wagon, count
The distance between rear car and current vehicle are calculated, judges whether above-mentioned distance is greater than or equal to default safe distance, if so, meeting
One lane change condition, by radar measurement system obtain rear travel speed, judge the travel speed of rear car whether be less than or
Equal to the second default safe speed, if so, meet all lane change conditions, control current vehicle is to Four-Lane Road lane change.
Example IV
As shown in fig. 6, a kind of automatic lane change system based on train flow analysis, including：
First image acquiring module 401 is configured as obtaining the image of current vehicle left front and using image as the first image；
Second image acquiring module 402 is configured as obtaining the image of current vehicle right front and using image as the second image；
First judgment module 403 is configured as judging whether current vehicle is in Through Lane；
First extraction module 404 is configured as extracting the track residing for current vehicle as first lane；
First computing module 405, the vehicle fleet size for being configured as calculating in first lane and in front of the current vehicle and by vehicle
Quantity is as the first quantity；
Second judgment module 406 is configured as judging whether on the left of first lane be Through Lane；
Second extraction module 407 is configured as extracting the Through Lane on the left of first lane as second lane；
Second computing module 408, the vehicle fleet size for being configured as calculating in second lane and in front of the current vehicle and by vehicle
Quantity is as the second quantity；
Third judgment module 409 is configured as judging whether on the right side of first lane be Through Lane；
Third extraction module 410 is configured as extracting the Through Lane on the right side of first lane as third lane；
Third computing module 411 is configured as meter and states vehicle fleet size in third lane and in front of current vehicle and by vehicle
Quantity is as third quantity；
Quantity comparison module 412, is configured as comparing and obtains the first quantity, the magnitude relationship of the second quantity and third quantity；
4th extraction module 413 is configured as including that the minimum Through Lane of vehicle fleet size is extracted as Four-Lane Road；
Lane change module 414 is configured as control current vehicle to Four-Lane Road lane change；
Travel route acquisition module 415 is configured as taking the travel route of current vehicle；
First position mark module 416 is configured as extracting the position of current vehicle and be carried out position as first position
Label；
Second position mark module 417, be configured as extracting in travel route steering crossing position and using position as
The second position is marked；
4th judgment module 418 is configured as judging whether positioned at next crossing of current vehicle travel direction be to turn to road
Mouthful；
4th computing module 419 is configured as calculating the difference of the vehicle fleet size and the first quantity of Four-Lane Road；
It is default to be configured as judging whether difference that the 4th computing module is calculated is less than or equal to for 5th judgment module 420
Quantity；
Traveling trend acquisition module 421 is configured as obtaining the travel direction and travel speed of current vehicle；
6th judgment module 422, is configured as judging whether the travel speed of current vehicle is more than the first default safe speed；
Slowdown module 423, the travel speed for being configured as control current vehicle are reduced to the first default safe speed；
Third image acquiring module 424 is configured as obtaining in Four-Lane Road and positioned at the shadow of current vehicle side and rear
As and using image as third image；
5th extraction module 425 is configured as extracting in third image and is located at the vehicle of forefront and as rear car；
5th computing module 426 is configured as calculating the distance between rear car and current vehicle；
It is default to be configured as judging whether distance that the 5th computing module is calculated is greater than or equal to for 7th judgment module 427
Safe distance；
Rear car speed acquiring module 428 is configured as obtaining the travel speed of rear car；
8th judgment module 429, is configured as judging whether the travel speed of rear car is less than or equal to the second default safe speed.
It should be understood that in example IV, the specific implementation process of above-mentioned modules (can be implemented with above method embodiment
Example one is to embodiment three) description it is corresponding, be not described in detail herein.
The system that above-described embodiment four is provided only the example of the division of the above functional modules actually is answered
In, it can be completed, i.e., divided the internal structure of system by different function modules as needed and by above-mentioned function distribution
At different function modules, to complete all or part of the functions described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of automatic lane change method based on train flow analysis, it is characterised in that：Include the following steps：
101：It obtains the image of current vehicle left front and is stored the image as the first image；
102：It obtains the image of current vehicle right front and is stored the image as the second image；
103：Judge whether current vehicle is in Through Lane according to first image and second image；
104：If so, the track residing for current vehicle is extracted as first lane；
105：The vehicle in the first lane and in front of current vehicle is calculated according to first image and the second image
Quantity is simultaneously stored the vehicle fleet size as the first quantity；
106：Judge whether on the left of the first lane be Through Lane；
107：If so, the Through Lane on the left of the first lane is extracted as second lane；
108：It is calculated in the second lane according to first image and the vehicle fleet size in front of current vehicle and by institute
Vehicle fleet size is stated to be stored as the second quantity；
109：Judge whether on the right side of the first lane be Through Lane；
110：If so, the Through Lane on the right side of the first lane is extracted as third lane；
111：It is calculated in the third lane according to second image and the vehicle fleet size in front of current vehicle and by institute
Vehicle fleet size is stated to be stored as third quantity；
112：Compare and obtains first quantity, the magnitude relationship of second quantity and the third quantity；
113：It is extracted including the minimum Through Lane of vehicle fleet size as Four-Lane Road；
114：Current vehicle is controlled to the Four-Lane Road lane change.
2. a kind of automatic lane change method based on train flow analysis according to claim 1, it is characterised in that：According to described
One image and second image judge current vehicle whether in Through Lane further include：
Obtain the travel route of current vehicle；
It extracts the position of current vehicle and the position is marked as first position；
It extracts the position at the steering crossing in the travel route and the position is marked as the second position；
Judge whether positioned at next crossing of current vehicle travel direction be to turn to crossing；
If so, control current vehicle is in advance to added turning lane lane change.
3. a kind of automatic lane change method based on train flow analysis according to claim 1, it is characterised in that：It will include vehicle
The Through Lane of minimum number is extracted as Four-Lane Road further includes：
Preset quantity is set, lane change is then carried out when the difference of the vehicle fleet size between track is less than or equal to preset quantity；
Calculate the difference of the vehicle fleet size and first quantity of Four-Lane Road；
Judge whether the difference is greater than or equal to preset quantity；
If so, controlling current vehicle to the Four-Lane Road lane change.
4. a kind of automatic lane change method based on train flow analysis according to claim 1, it is characterised in that：Control current vehicle
To further including before the Four-Lane Road lane change：
The traveling trend of current vehicle is obtained, the traveling trend includes travel direction and travel speed；
Judge whether the travel speed is more than the first default safe speed；
If so, the travel speed of control current vehicle is reduced to the first default safe speed.
5. a kind of automatic lane change method based on train flow analysis according to claim 1, it is characterised in that：It will include vehicle
The Through Lane of minimum number is extracted as Four-Lane Road further includes：
Obtain in Four-Lane Road and positioned at the image at current vehicle side and rear and using the image as third image into
Row storage；
Extract the vehicle in the third image positioned at forefront and as rear car；
Calculate the distance between the rear car and current vehicle；
Judge whether the distance is greater than or equal to default safe distance；
If so, obtaining the travel speed of rear car；
Judge whether the travel speed is less than or equal to the second default safe speed；
If so, controlling current vehicle to the Four-Lane Road lane change.
6. a kind of automatic lane change system based on train flow analysis, it is characterised in that：Including：
First image acquiring module is configured as obtaining the image of current vehicle left front and using the image as the first shadow
Picture；
Second image acquiring module is configured as obtaining the image of current vehicle right front and using the image as the second shadow
Picture；
First judgment module is configured as judging whether current vehicle is in Through Lane；
First extraction module is configured as extracting the track residing for current vehicle as first lane；
First computing module, the vehicle fleet size for being configured as calculating in first lane and in front of the current vehicle and by the vehicle
Quantity is as the first quantity；
Second judgment module is configured as judging whether on the left of first lane be Through Lane；
Second extraction module is configured as extracting the Through Lane on the left of first lane as second lane；
Second computing module, the vehicle fleet size for being configured as calculating in second lane and in front of the current vehicle and by the vehicle
Quantity is as the second quantity；
Third judgment module is configured as judging whether on the right side of first lane be Through Lane；
Third extraction module is configured as extracting the Through Lane on the right side of first lane as third lane；
Third computing module is configured as meter and states vehicle fleet size in third lane and in front of current vehicle and by the vehicle
Quantity is as third quantity；
Quantity comparison module, is configured as comparing and obtains the first quantity, the magnitude relationship of the second quantity and third quantity；
4th extraction module is configured as including that the minimum Through Lane of vehicle fleet size is extracted as Four-Lane Road；
Lane change module is configured as control current vehicle to the Four-Lane Road lane change.
7. a kind of automatic lane change system based on train flow analysis according to claim 6, it is characterised in that：Further include：
Travel route acquisition module is configured as taking the travel route of current vehicle；
First position mark module is configured as extracting the position of current vehicle and be carried out the position as first position
Label；
Second position mark module, be configured as extracting in travel route steering crossing position and using the position as
The second position is marked；
4th judgment module is configured as judging whether positioned at next crossing of current vehicle travel direction be to turn to crossing.
8. a kind of automatic lane change system based on train flow analysis according to claim 6, it is characterised in that：Further include：
4th computing module is configured as calculating the difference of the vehicle fleet size and first quantity of Four-Lane Road；
5th judgment module is configured as judging whether the difference that the 4th computing module is calculated is less than or equal to present count
Amount.
9. a kind of automatic lane change system based on train flow analysis according to claim 6, it is characterised in that：Further include：
Traveling trend acquisition module is configured as obtaining the travel direction and travel speed of current vehicle；
6th judgment module, is configured as judging whether the travel speed of current vehicle is more than the first default safe speed；
Slowdown module, the travel speed for being configured as control current vehicle are reduced to the first default safe speed.
10. a kind of automatic lane change system based on train flow analysis according to claim 6, it is characterised in that：Further include：
Third image acquiring module is configured as obtaining image in Four-Lane Road and positioned at current vehicle side and rear simultaneously
Using the image as third image；
5th extraction module is configured as extracting in third image and is located at the vehicle of forefront and as rear car；
5th computing module is configured as calculating the distance between rear car and current vehicle；
7th judgment module is configured as judging whether the distance that the 5th computing module is calculated is greater than or equal to default safety
Distance；
Rear car speed acquiring module is configured as obtaining the travel speed of rear car；
8th judgment module, is configured as judging whether the travel speed of rear car is less than or equal to the second default safe speed.
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