CN108482377B - Automatic lane changing method and system based on traffic flow analysis - Google Patents
Automatic lane changing method and system based on traffic flow analysis Download PDFInfo
- Publication number
- CN108482377B CN108482377B CN201810370590.5A CN201810370590A CN108482377B CN 108482377 B CN108482377 B CN 108482377B CN 201810370590 A CN201810370590 A CN 201810370590A CN 108482377 B CN108482377 B CN 108482377B
- Authority
- CN
- China
- Prior art keywords
- lane
- current vehicle
- image
- vehicles
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005206 flow analysis Methods 0.000 title claims abstract description 22
- 238000000605 extraction Methods 0.000 claims abstract description 24
- 206010039203 Road traffic accident Diseases 0.000 description 4
- 238000012216 screening Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
An automatic lane changing method and system based on traffic flow analysis, wherein an image of the left front of a current vehicle is obtained and used as a first image; acquiring an image of the right front of the current vehicle and taking the image as a second image; if the current vehicle is in the straight lane, taking the lane where the current vehicle is as the first lane for extraction; calculating the number of vehicles in the first lane and taking the number of vehicles as a first number; if the left side of the first lane is a straight lane, taking the straight lane on the left side of the first lane as a second lane for extraction; calculating the number of vehicles in the second lane and taking the number of vehicles as a second number; if the right side of the first lane is a straight lane, taking the straight lane on the right side of the first lane as a third lane for extraction; calculating the number of vehicles in the third lane and taking the number of vehicles as a third number; comparing the size relationship of the three; extracting a straight lane with the least number of vehicles as a fourth lane; and controlling the current vehicle to change the lane to the fourth lane.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic lane changing method and system based on traffic flow analysis.
Background
A large number of traffic signal lamps are arranged on the urban road section, different routes belong to different lanes, a driver selects a proper lane according to the driving route of the vehicle, and driving time can be effectively shortened through reasonable lane changing. Especially, in the intersection area of traffic lights, traffic jam is easily caused, and in the process of waiting for the red light in a straight lane, if more vehicles are waiting in front of the current vehicle, the starting time of the vehicle behind can be directly influenced. The driver cannot observe all the vehicles ahead, so that the driver cannot select a proper lane change in advance according to the traffic flow information ahead, and if the driver suddenly changes lanes near the red light, the traffic accident is possibly caused.
In addition, various road changing phenomena which are not spectral are numerous on the road at present, so that a plurality of traffic accidents of rear-end pursuit or friction are caused, wherein most of the traffic accidents are caused by negligence of drivers, some drivers do not have safety concepts, like the changing of the road without warning signs, and people nearby cannot take measures, so that the behavior of harmful people can cause disastrous traffic accidents by some carelessness, and the phenomena are strictly controlled.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, embodiments of the present invention provide an automatic lane changing method and system based on traffic flow analysis, which can effectively solve the problems related to the background art.
The technical scheme is as follows: an automatic lane changing method based on traffic flow analysis comprises the following steps:
101: acquiring an image of the left front of a current vehicle and storing the image as a first image;
102: acquiring an image of the right front of the current vehicle and storing the image as a second image;
103: judging whether the current vehicle is in a straight lane or not according to the first image and the second image;
104: if so, extracting the lane where the current vehicle is located as a first lane;
105: calculating the number of vehicles in the first lane and in front of the current vehicle according to the first image and the second image, and storing the number of vehicles as a first number;
106: judging whether the left side of the first lane is a straight lane or not;
107: if so, taking the straight lane on the left side of the first lane as a second lane for extraction;
108: calculating the number of vehicles in the second lane and in front of the current vehicle according to the first image and storing the number of vehicles as a second number;
109: judging whether the right side of the first lane is a straight lane or not;
110: if so, taking the straight lane on the right side of the first lane as a third lane for extraction;
111: calculating the number of vehicles in the third lane and in front of the current vehicle according to the second image and storing the number of vehicles as a third number;
112: comparing to obtain the magnitude relation of the first quantity, the second quantity and the third quantity;
113: extracting a straight lane with the least number of vehicles as a fourth lane;
114: and controlling the current vehicle to change the lane to the fourth lane.
As a preferable aspect of the present invention, the determining whether or not the current vehicle is in the straight lane based on the first image and the second image further includes:
acquiring a running route of a current vehicle;
extracting the position of the current vehicle and marking the position as a first position;
extracting the position of a turning intersection in the driving route and marking the position as a second position;
judging whether the next intersection in the current vehicle driving direction is a steering intersection or not;
and if so, controlling the current vehicle to change the lane to the steering lane in advance.
As a preferable aspect of the present invention, the extracting the straight lane including the smallest number of vehicles as the fourth lane further includes:
setting a preset number, and changing lanes when the difference value of the number of vehicles between lanes is less than or equal to the preset number;
calculating a difference between the number of vehicles in the fourth lane and the first number;
judging whether the difference value is greater than or equal to a preset number;
and if so, controlling the current vehicle to change the lane to the fourth lane.
As a preferable aspect of the present invention, before controlling the current vehicle to change lane to the fourth lane, the method further includes:
acquiring a driving trend of a current vehicle, wherein the driving trend comprises a driving direction and a driving speed;
judging whether the running speed is greater than a first preset safety speed or not;
and if so, controlling the running speed of the current vehicle to be reduced to a first preset safe speed.
As a preferable aspect of the present invention, the extracting the straight lane including the smallest number of vehicles as the fourth lane further includes:
acquiring images in a fourth lane and positioned at the side and the rear of the current vehicle and storing the images as third images;
extracting a vehicle positioned at the forefront in the third image and taking the vehicle as a rear vehicle;
calculating the distance between the rear vehicle and the current vehicle;
judging whether the distance is greater than or equal to a preset safety distance;
if so, acquiring the running speed of the rear vehicle;
judging whether the running speed is less than or equal to a second preset safety speed or not;
and if so, controlling the current vehicle to change the lane to the fourth lane.
An automatic lane-changing system based on traffic flow analysis, comprising:
the first image acquisition module is configured to acquire an image of the left front of the current vehicle and take the image as a first image;
the second image acquisition module is configured to acquire an image of the front right of the current vehicle and take the image as a second image;
the first judging module is configured to judge whether the current vehicle is in a straight lane;
the first extraction module is configured to extract a lane where the current vehicle is located as a first lane;
a first calculation module configured to calculate a number of vehicles located ahead of a current vehicle within a first lane and take the number of vehicles as a first number;
the second judging module is configured to judge whether the left side of the first lane is a straight lane;
a second extraction module configured to extract a straight lane on the left side of the first lane as a second lane;
a second calculation module configured to calculate a number of vehicles located ahead of the current vehicle in a second lane and take the number of vehicles as a second number;
the third judging module is configured to judge whether the right side of the first lane is a straight lane;
a third extraction module configured to extract a straight lane on the right side of the first lane as a third lane;
a third calculation module configured to calculate a number of vehicles located in front of a current vehicle within the third lane and take the number of vehicles as a third number;
the quantity comparison module is configured to compare the first quantity, the second quantity and the third quantity to obtain a magnitude relation;
a fourth extraction module configured to extract a straight lane including the smallest number of vehicles as a fourth lane;
a lane change module configured to control a current vehicle to change a lane to the fourth lane.
As a preferred embodiment of the present invention, the present invention further comprises:
a travel route acquisition module configured to acquire a travel route of a current vehicle;
a first position marking module configured to extract a position of a current vehicle and mark the position as a first position;
a second position marking module configured to extract a position of a steering intersection in the driving route and mark the position as a second position;
and the fourth judging module is configured to judge whether the next intersection in the current vehicle driving direction is a steering intersection.
As a preferred embodiment of the present invention, the present invention further comprises:
a fourth calculation module configured to calculate a difference between the number of vehicles of a fourth lane and the first number;
and the fifth judging module is configured to judge whether the difference value calculated by the fourth calculating module is less than or equal to the preset number.
As a preferred embodiment of the present invention, the present invention further comprises:
a driving trend acquisition module configured to acquire a driving direction and a driving speed of a current vehicle;
the sixth judging module is configured to judge whether the running speed of the current vehicle is greater than the first preset safe speed;
and the deceleration module is configured to control the running speed of the current vehicle to be reduced to a first preset safe speed.
As a preferred embodiment of the present invention, the present invention further comprises:
the third image acquisition module is configured to acquire images in a fourth lane and positioned at the side and the rear of the current vehicle and take the images as third images;
the fifth extraction module is configured to extract a vehicle positioned at the forefront in the third image and take the vehicle as a rear vehicle;
a fifth calculation module configured to calculate a distance between the rear vehicle and the current vehicle;
the seventh judging module is configured to judge whether the distance calculated by the fifth calculating module is greater than or equal to the preset safety distance;
a rear vehicle speed acquisition module configured to acquire a traveling speed of a rear vehicle;
and the eighth judging module is configured to judge whether the running speed of the rear vehicle is less than or equal to the second preset safe speed.
The invention realizes the following beneficial effects:
the automatic lane changing method based on traffic flow analysis can automatically identify the straight lanes on two sides of the straight lane where the current vehicle is located, and help the current vehicle to preferentially select lane changing to the straight lane with a small number of vehicles; acquiring a running route of a current vehicle, further acquiring a real-time position of the current vehicle and an intersection to which the current vehicle needs to turn in the running route, and helping the current vehicle to change lanes to the turning intersection in advance; the method comprises the steps of adding an intelligent screening method to the selection of lanes, further judging the extracted straight lane with the minimum vehicle number, calculating the difference value of the vehicle numbers of the straight lane and the lane where the current vehicle is located, and controlling the current vehicle to change lanes to the fourth lane when the difference value is larger than or equal to the preset number; and judging lane changing conditions before lane changing, wherein the lane changing conditions comprise the driving speed of the rear vehicle and the distance between the rear vehicle and the current vehicle, and the rear-end collision of the vehicles can be avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart of an automatic lane-changing method based on traffic flow analysis according to the present invention;
FIG. 2 is a flow chart of a method for determining a current vehicle driving speed before lane change according to the present invention;
FIG. 3 is a flowchart of a lane-changing method for advancing a turning lane according to the present invention;
FIG. 4 is a flowchart of a fourth lane intelligent screening method provided by the present invention;
FIG. 5 is a flowchart of a lane-change condition determination method according to the present invention;
fig. 6 is a block diagram of an automatic lane change system based on traffic flow analysis according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1, an automatic lane change method based on traffic flow analysis includes the following steps:
101: acquiring an image of the left front of the current vehicle and storing the image as a first image;
102: acquiring an image of the right front of the current vehicle and storing the image as a second image;
103: judging whether the current vehicle is in a straight lane or not according to the first image and the second image;
104: if so, extracting the lane where the current vehicle is located as a first lane;
105: calculating the number of vehicles in the first lane and in front of the current vehicle according to the first image and the second image, and storing the number of vehicles as a first number;
106: judging whether the left side of the first lane is a straight lane or not;
107: if so, taking the straight lane on the left side of the first lane as a second lane for extraction;
108: calculating the number of vehicles in the second lane and in front of the current vehicle according to the first image and storing the number of vehicles as a second number;
109: judging whether the right side of the first lane is a straight lane or not;
110: if so, taking the straight lane on the right side of the first lane as a third lane for extraction;
111: calculating the number of vehicles in the third lane and in front of the current vehicle according to the second image and storing the number of vehicles as a third number;
112: comparing to obtain the magnitude relation among the first quantity, the second quantity and the third quantity;
113: extracting a straight lane with the least number of vehicles as a fourth lane;
114: and controlling the current vehicle to change the lane to the fourth lane.
As shown in fig. 2, before controlling the current vehicle to change lane to the fourth lane, the method further includes:
acquiring a driving trend of a current vehicle, wherein the driving trend comprises a driving direction and a driving speed;
judging whether the running speed is greater than a first preset safety speed or not;
and if so, controlling the running speed of the current vehicle to be reduced to a first preset safe speed.
Specifically, in step S101, an image of the left front of the current vehicle is captured by a first camera disposed below a left side mirror of the current vehicle, and the image is separately stored as a first image including the right side surface of the front vehicle in the left lane of the current vehicle and the left side surface of the front vehicle in the lane where the front vehicle is located.
In step S102, an image of the right front of the current vehicle is captured by a second camera disposed below the right side mirror of the current vehicle, and the image is separately stored as a second image including the left side surface of the vehicle ahead in the lane of the right side of the current vehicle and the right side surface of the vehicle ahead in the lane in which the current vehicle is located.
In step S103, in addition to the left-turn lane and the right-turn lane fixed on both sides, the vehicle may change lanes to improve the driving efficiency when driving on the middle straight lane, and it is determined whether the current vehicle is in the straight lane according to the road markings included in the first image and the second image.
In step S104, if the current vehicle is in a straight lane, the lane in which the current vehicle is located is defined as a first lane, and the first lane is extracted.
In step S105, the lane change method according to the present invention is based on the number of vehicles in each lane, and therefore, the number of vehicles in the lane where the current vehicle is located and the adjacent straight lane needs to be calculated, the number of vehicles in the first lane and located in front of the current vehicle is calculated through the right portion of the first image and the left portion of the second image, the number of vehicles is defined as the first number, two values are calculated through the first image and the second image, the calculation is terminated when the two values are consistent, and the calculation is recalculated if the calculation results are not consistent.
In step S106, it is determined whether the left lane of the first lane is a straight lane according to the first image.
In step S107, if the left lane of the first lane is a straight lane, the left straight lane of the first lane is defined as a second lane, and the second lane is extracted.
In step S108, the number of vehicles in the second lane and in front of the current vehicle is calculated according to the left portion of the first image, and the number of vehicles is defined as the second number.
In step S109, it is determined whether the right lane of the first vehicle is a straight lane based on the second image.
In step S110, if the right lane of the first lane is a straight lane, the right straight lane of the first lane is defined as a third lane, and the third lane is extracted.
In step S111, the number of vehicles in the third lane and in front of the current vehicle is calculated from the right portion of the second image, and the number of vehicles is defined as a third number.
In step S112, the first number, the second number, and the third number are extracted, and the magnitude relationship among the three numbers is determined, that is, the number of vehicles located in front of the current vehicle in the first lane, the second lane, and the third lane is compared.
In step S113, a vehicle number with the smallest numerical value is extracted, a straight lane corresponding to the vehicle number is further extracted according to the vehicle number, and the straight lane is positioned as a fourth lane;
in step S114, the control right of the current vehicle control system is acquired, and the current vehicle is controlled to change the lane to the fourth lane.
Before step S114, a first preset safe speed is set, when the running speed of the current vehicle is less than or equal to the first preset safe speed, the automatic lane change may be started, and if the obtained running speed is greater than the first preset safe speed before the current vehicle is ready to change lanes, the control right of the current vehicle control system is obtained, and the automatic lane change is started when the running speed of the current vehicle is controlled to be reduced to the first preset safe speed.
Example two
As shown in fig. 3, determining whether the current vehicle is in the straight lane according to the first image and the second image further includes:
acquiring a running route of a current vehicle;
extracting the position of the current vehicle and marking the position as a first position;
extracting the position of a turning intersection in the driving route and marking the position as a second position;
judging whether the next intersection in the current vehicle driving direction is a steering intersection or not;
and if so, controlling the current vehicle to change the lane to the steering lane in advance.
Specifically, at present, road traffic pressure is gradually serious, and particularly, during rush hours and rush hours, a part of straight drivers can select the invisible lane change reminding, so that the lane change cannot be realized when the drivers approach a steering intersection. The method comprises the steps of obtaining a running route of a current vehicle through a GPS navigation system, extracting a real-time position of the current vehicle, positioning the real-time position as a first position, guiding the first position into the running route, extracting positions of all turning intersections from the running route, defining the positions of the turning intersections as second positions, distinguishing the second positions from the first positions, judging whether a next intersection located in the running direction of the current vehicle is a turning intersection or not according to the first positions and the second positions, namely whether turning is needed or not at a traffic signal lamp closest to the current vehicle, if yes, extracting a turning direction from the running route, and controlling the current vehicle to change the lane to the turning direction.
EXAMPLE III
As shown in fig. 4, extracting the straight lane including the smallest number of vehicles as the fourth lane further includes:
setting a preset number, and changing lanes when the difference value of the number of vehicles between lanes is less than or equal to the preset number;
calculating the difference value between the number of vehicles in the fourth lane and the first number;
judging whether the difference is greater than or equal to a preset number;
and if so, controlling the current vehicle to change the lane to the fourth lane.
As shown in fig. 5, extracting the straight lane including the smallest number of vehicles as the fourth lane further includes:
acquiring images in a fourth lane and positioned at the side and the rear of the current vehicle and storing the images as third images;
extracting a vehicle positioned at the forefront in the third image and taking the vehicle as a rear vehicle;
calculating the distance between the rear vehicle and the current vehicle;
judging whether the distance is greater than or equal to a preset safety distance;
if so, acquiring the running speed of the rear vehicle;
judging whether the running speed is less than or equal to a second preset safety speed or not;
and if so, controlling the current vehicle to change the lane to the fourth lane.
Specifically, the lane change to the straight lane with the small number of vehicles is preferentially selected, but one danger is increased every time the lane change is performed more, and one traffic pressure is increased. And extracting the number of vehicles corresponding to a fourth lane, wherein the number of vehicles is the second number or the third number, calculating a difference value between the number of vehicles and the first number, the difference value is the difference value between the number of vehicles in the front adjacent lane, the smaller the difference value is, the closer the number of vehicles in the two lanes is, the smaller the lane change significance is, judging whether the difference value is greater than or equal to the preset number, and if so, performing lane change on the fourth lane through screening. For example, if the preset number is 2, the number of vehicles in the fourth lane is 5, and the number of vehicles in the first lane is 8, the first number is 8, a difference between the preset number and the first number is 3, and if the difference is greater than the preset number, the automatic lane change may be started.
The invention can start automatic lane changing when the current vehicle accords with the lane changing condition, the lane changing condition refers to the motion state of the vehicle in the fourth lane, and the lane changing condition comprises the distance between the two vehicles and the running speed of the vehicle in the fourth lane. Adjusting the shooting angle of the first camera or the second camera, enabling the first camera or the second camera to rotate 180 degrees backwards, obtaining images of the side and the back of the current vehicle and defining the images as a third image, extracting the vehicle positioned at the forefront in the third image and defining the vehicle as a back vehicle, setting a preset safety distance and a preset safety speed, wherein the preset safety distance is at least twice of the length of the body of the current vehicle, calculating the distance between the back vehicle and the current vehicle, judging whether the distance is greater than or equal to the preset safety distance, if so, meeting a lane change condition, obtaining the driving speed of the back vehicle through a radar measuring device, judging whether the driving speed of the back vehicle is less than or equal to the second preset safety speed, if so, meeting all lane change conditions, and controlling the current vehicle to change lanes to a fourth lane.
Example four
As shown in fig. 6, an automatic lane change system based on traffic flow analysis includes:
a first image acquiring module 401 configured to acquire an image of the left front of the current vehicle and take the image as a first image;
a second image obtaining module 402 configured to obtain an image of the front right of the current vehicle and take the image as a second image;
a first determination module 403 configured to determine whether the current vehicle is in a straight lane;
a first extraction module 404 configured to extract a lane where the current vehicle is located as a first lane;
a first calculation module 405 configured to calculate a number of vehicles located in front of the current vehicle within the first lane and take the number of vehicles as a first number;
a second determination module 406 configured to determine whether the left side of the first lane is a straight lane;
a second extraction module 407 configured to extract a straight lane on the left side of the first lane as a second lane;
a second calculation module 408 configured to calculate the number of vehicles in the second lane and in front of the current vehicle and take the number of vehicles as the second number;
a third determining module 409 configured to determine whether the right side of the first lane is a straight lane;
a third extraction module 410 configured to extract a straight lane on the right side of the first lane as a third lane;
a third calculation module 411 configured to calculate the number of vehicles in the third lane and in front of the current vehicle and take the number of vehicles as a third number;
a quantity comparison module 412 configured to compare the first quantity, the second quantity, and the third quantity to obtain a magnitude relationship;
a fourth extraction module 413 configured to extract a straight lane including the smallest number of vehicles as a fourth lane;
a lane change module 414 configured to control a lane change of the current vehicle to a fourth lane;
a travel route acquisition module 415 configured to acquire a travel route of the current vehicle;
a first position marking module 416 configured to extract a position of the current vehicle and mark the position as a first position;
a second position marking module 417 configured to extract a position of a steering intersection in the driving route and mark the position as a second position;
a fourth determination module 418 configured to determine whether a next intersection located in the current vehicle driving direction is a steering intersection;
a fourth calculation module 419 configured to calculate a difference between the number of vehicles of the fourth lane and the first number;
a fifth judging module 420 configured to judge whether the difference calculated by the fourth calculating module is less than or equal to a preset number;
a driving tendency acquisition module 421 configured to acquire a driving direction and a driving speed of a current vehicle;
a sixth determining module 422 configured to determine whether the driving speed of the current vehicle is greater than the first preset safe speed;
a deceleration module 423 configured to control a traveling speed of the current vehicle to be reduced to a first preset safe speed;
a third image acquiring module 424, configured to acquire images in the fourth lane and located at the side and the rear of the current vehicle and take the images as a third image;
a fifth extraction module 425 configured to extract a vehicle located at the forefront in the third image and take the vehicle as a rear vehicle;
a fifth calculation module 426 configured to calculate a distance between the rear vehicle and the current vehicle;
a seventh judging module 427 configured to judge whether the distance calculated by the fifth calculating module is greater than or equal to the preset safe distance;
a rear vehicle speed acquisition module 428 configured to acquire a traveling speed of the rear vehicle;
an eighth determination module 429 configured to determine whether the traveling speed of the following vehicle is less than or equal to the second preset safe speed.
It should be understood that, in the fourth embodiment, the specific implementation process of each module described above may correspond to the description of the above method embodiments (the first to the third embodiments), and is not described in detail here.
The system provided in the fourth embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An automatic lane changing method based on traffic flow analysis is characterized in that: the method comprises the following steps:
101: acquiring an image of the left front of a current vehicle and storing the image as a first image;
102: acquiring an image of the right front of the current vehicle and storing the image as a second image;
103: judging whether the current vehicle is in a straight lane or not according to the first image and the second image;
104: if so, extracting the lane where the current vehicle is located as a first lane;
105: calculating the number of vehicles in the first lane and in front of the current vehicle according to the first image and the second image, and storing the number of vehicles as a first number;
106: judging whether the left side of the first lane is a straight lane or not;
107: if so, taking the straight lane on the left side of the first lane as a second lane for extraction;
108: calculating the number of vehicles in the second lane and in front of the current vehicle according to the first image and storing the number of vehicles as a second number;
109: judging whether the right side of the first lane is a straight lane or not;
110: if so, taking the straight lane on the right side of the first lane as a third lane for extraction;
111: calculating the number of vehicles in the third lane and in front of the current vehicle according to the second image and storing the number of vehicles as a third number;
112: comparing to obtain the magnitude relation of the first quantity, the second quantity and the third quantity;
113: extracting a straight lane with the least number of vehicles as a fourth lane;
114: and controlling the current vehicle to change the lane to the fourth lane.
2. The automatic lane change method based on traffic flow analysis according to claim 1, characterized in that: judging whether the current vehicle is in a straight lane according to the first image and the second image further comprises:
acquiring a running route of a current vehicle;
extracting the position of the current vehicle and marking the position as a first position;
extracting the position of a turning intersection in the driving route and marking the position as a second position;
judging whether the next intersection in the current vehicle driving direction is a steering intersection or not;
and if so, controlling the current vehicle to change the lane to the steering lane in advance.
3. The automatic lane change method based on traffic flow analysis according to claim 1, characterized in that: extracting the straight lane including the least number of vehicles as the fourth lane further includes:
setting a preset number, and changing lanes when the difference value of the number of vehicles between lanes is less than or equal to the preset number;
calculating a difference between the number of vehicles in the fourth lane and the first number;
judging whether the difference value is greater than or equal to a preset number;
and if so, controlling the current vehicle to change the lane to the fourth lane.
4. The automatic lane change method based on traffic flow analysis according to claim 1, characterized in that: before controlling the current vehicle to change lane to the fourth lane, the method further comprises:
acquiring a driving trend of a current vehicle, wherein the driving trend comprises a driving direction and a driving speed;
judging whether the running speed is greater than a first preset safety speed or not;
and if so, controlling the running speed of the current vehicle to be reduced to a first preset safe speed.
5. The automatic lane change method based on traffic flow analysis according to claim 1, characterized in that: extracting the straight lane including the least number of vehicles as the fourth lane further includes:
acquiring images in a fourth lane and positioned at the side and the rear of the current vehicle and storing the images as third images;
extracting a vehicle positioned at the forefront in the third image and taking the vehicle as a rear vehicle;
calculating the distance between the rear vehicle and the current vehicle;
judging whether the distance is greater than or equal to a preset safety distance;
if so, acquiring the running speed of the rear vehicle;
judging whether the running speed is less than or equal to a second preset safety speed or not;
and if so, controlling the current vehicle to change the lane to the fourth lane.
6. The utility model provides an automatic lane change system based on traffic flow analysis which characterized in that: the method comprises the following steps:
the first image acquisition module is configured to acquire an image of the left front of the current vehicle and take the image as a first image;
the second image acquisition module is configured to acquire an image of the front right of the current vehicle and take the image as a second image;
the first judging module is configured to judge whether the current vehicle is in a straight lane;
the first extraction module is configured to extract a lane where the current vehicle is located as a first lane;
a first calculation module configured to calculate a number of vehicles located ahead of a current vehicle within a first lane and take the number of vehicles as a first number;
the second judging module is configured to judge whether the left side of the first lane is a straight lane;
a second extraction module configured to extract a straight lane on the left side of the first lane as a second lane;
a second calculation module configured to calculate a number of vehicles located ahead of the current vehicle in a second lane and take the number of vehicles as a second number;
the third judging module is configured to judge whether the right side of the first lane is a straight lane;
a third extraction module configured to extract a straight lane on the right side of the first lane as a third lane;
a third calculation module configured to calculate a number of vehicles located in front of a current vehicle within the third lane and take the number of vehicles as a third number;
the quantity comparison module is configured to compare the first quantity, the second quantity and the third quantity to obtain a magnitude relation;
a fourth extraction module configured to extract a straight lane including the smallest number of vehicles as a fourth lane;
a lane change module configured to control a current vehicle to change a lane to the fourth lane.
7. The automatic lane change system based on traffic flow analysis according to claim 6, wherein: further comprising:
a travel route acquisition module configured to acquire a travel route of a current vehicle;
a first position marking module configured to extract a position of a current vehicle and mark the position as a first position;
a second position marking module configured to extract a position of a steering intersection in the driving route and mark the position as a second position;
and the fourth judging module is configured to judge whether the next intersection in the current vehicle driving direction is a steering intersection.
8. The automatic lane change system based on traffic flow analysis according to claim 6, wherein: further comprising:
a fourth calculation module configured to calculate a difference between the number of vehicles of a fourth lane and the first number;
and the fifth judging module is configured to judge whether the difference value calculated by the fourth calculating module is less than or equal to the preset number.
9. The automatic lane change system based on traffic flow analysis according to claim 6, wherein: further comprising:
a driving trend acquisition module configured to acquire a driving direction and a driving speed of a current vehicle;
the sixth judging module is configured to judge whether the running speed of the current vehicle is greater than the first preset safe speed;
and the deceleration module is configured to control the running speed of the current vehicle to be reduced to a first preset safe speed.
10. The automatic lane change system based on traffic flow analysis according to claim 6, wherein: further comprising:
the third image acquisition module is configured to acquire images in a fourth lane and positioned at the side and the rear of the current vehicle and take the images as third images;
the fifth extraction module is configured to extract a vehicle positioned at the forefront in the third image and take the vehicle as a rear vehicle;
a fifth calculation module configured to calculate a distance between the rear vehicle and the current vehicle;
the seventh judging module is configured to judge whether the distance calculated by the fifth calculating module is greater than or equal to the preset safety distance;
a rear vehicle speed acquisition module configured to acquire a traveling speed of a rear vehicle;
and the eighth judging module is configured to judge whether the running speed of the rear vehicle is less than or equal to the second preset safe speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370590.5A CN108482377B (en) | 2018-04-24 | 2018-04-24 | Automatic lane changing method and system based on traffic flow analysis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810370590.5A CN108482377B (en) | 2018-04-24 | 2018-04-24 | Automatic lane changing method and system based on traffic flow analysis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108482377A CN108482377A (en) | 2018-09-04 |
| CN108482377B true CN108482377B (en) | 2020-05-08 |
Family
ID=63312918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810370590.5A Active CN108482377B (en) | 2018-04-24 | 2018-04-24 | Automatic lane changing method and system based on traffic flow analysis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108482377B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614995B (en) * | 2018-12-29 | 2021-01-22 | 长城汽车股份有限公司 | Lane selection method and system during automatic driving of vehicle and vehicle |
| CN110379160A (en) * | 2019-07-09 | 2019-10-25 | 广州小鹏汽车科技有限公司 | A kind of automatic lane change householder method of the vehicle of traffic intersection, system and vehicle |
| CN110444037A (en) * | 2019-08-09 | 2019-11-12 | 深圳市元征科技股份有限公司 | Automobile navigation method and Related product |
| CN110979330B (en) * | 2019-12-04 | 2021-09-21 | 福瑞泰克智能系统有限公司 | Vehicle lane change control method and device and vehicle |
| CN111002984A (en) * | 2019-12-24 | 2020-04-14 | 北京汽车集团越野车有限公司 | Automatic driving method and device, vehicle and automatic driving equipment |
| CN113299097B (en) * | 2020-02-21 | 2023-06-27 | 奥迪股份公司 | Auxiliary system for a vehicle, corresponding method and storage medium |
| CN112489452B (en) * | 2020-10-31 | 2022-09-09 | 华为技术有限公司 | Method, device and system for assisting vehicle to merge into main road |
| CN113442923B (en) * | 2021-07-18 | 2022-08-19 | 苏州清研精准汽车科技有限公司 | Automatic driving optimization method and system for vehicle perception and intelligent traffic data fusion |
| CN114913503B (en) * | 2022-04-14 | 2023-12-29 | 北京集度科技有限公司 | Prompt point determining method and device, server, vehicle and storage medium |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100553447B1 (en) * | 2004-03-12 | 2006-02-22 | 건아정보기술 주식회사 | A LANE CHANGE Regulation System and a Method Using Thereof |
| CN101746315A (en) * | 2008-12-19 | 2010-06-23 | 康佳集团股份有限公司 | Method and device for prompting lane change of vehicle and mobile terminal |
| CN104960468A (en) * | 2015-05-27 | 2015-10-07 | 奇瑞汽车股份有限公司 | Method and device for changing lanes during traveling |
| CN107452219A (en) * | 2016-05-31 | 2017-12-08 | 奥迪股份公司 | Choosing lane accessory system and its execution method |
| CN106373415A (en) * | 2016-10-20 | 2017-02-01 | 深圳市元征科技股份有限公司 | Lane guiding method and apparatus |
-
2018
- 2018-04-24 CN CN201810370590.5A patent/CN108482377B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108482377A (en) | 2018-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108482377B (en) | Automatic lane changing method and system based on traffic flow analysis | |
| RU2659670C1 (en) | Vehicle movement control device and method | |
| CN108778879B (en) | Vehicle control system, vehicle control method, and storage medium | |
| US10377301B2 (en) | Lamp light control method and apparatus, computer storage medium and in-vehicle device | |
| JP6288859B2 (en) | Vehicle control device, vehicle control method, and vehicle control program | |
| CN110366513B (en) | Vehicle control system, vehicle control method, and storage medium | |
| RU2659371C1 (en) | Device and method of traffic control | |
| CN107848534B (en) | Vehicle control device, vehicle control method, and medium storing vehicle control program | |
| US20180173236A1 (en) | Vehicle control system, vehicle control method, and vehicle control program | |
| JP6323246B2 (en) | Vehicle travel control apparatus and method | |
| JP6288286B2 (en) | Travel control device and travel control method | |
| CN110662683B (en) | Driving support device and driving support method | |
| US20040143381A1 (en) | Switching a turn signal indicator on or off | |
| JP6354440B2 (en) | Travel control device and travel control method | |
| US10235976B2 (en) | Vehicle display device for changing the position of displayed traffic indicators based on the road having left or right side traffic | |
| JP6485915B2 (en) | Road lane marking recognition device, vehicle control device, road lane marking recognition method, and road lane marking recognition program | |
| EP3760485A1 (en) | Vehicular notification device | |
| US11648960B2 (en) | Control method and control device for controlling autonomously driven vehicle | |
| US20190278286A1 (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN115083190A (en) | Automatic driving system and method for multi-lane traffic intersection | |
| JP2023073264A (en) | Information presentation apparatus for autonomous driving vehicle | |
| JP2019128773A (en) | Vehicle control system | |
| JP7158368B2 (en) | Information presentation device for self-driving cars | |
| US10902823B2 (en) | Display system, display control method, and storage medium | |
| KR101544411B1 (en) | Automatic vehicle driving system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200414 Address after: 518100 10th floor, new city building, No.39, Qinglin Middle Road, Longgang central city, Shenzhen, Guangdong Province Applicant after: SHENZHEN NEW LAND TOOL PLANNING BUILDING DESIGN Co.,Ltd. Address before: 215400 Taicang Economic Development Zone, Jiangsu, Beijing West Road, No. 6, No. Applicant before: Cai Jing |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |