CN108734957A - Vehicle lane change guidance system and its bootstrap technique - Google Patents

Vehicle lane change guidance system and its bootstrap technique Download PDF

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Publication number
CN108734957A
CN108734957A CN201810293631.5A CN201810293631A CN108734957A CN 108734957 A CN108734957 A CN 108734957A CN 201810293631 A CN201810293631 A CN 201810293631A CN 108734957 A CN108734957 A CN 108734957A
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China
Prior art keywords
vehicle
module
information
lane change
target vehicle
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CN201810293631.5A
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Chinese (zh)
Inventor
朱晓琳
姜明富
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Zebra Network Technology Co Ltd
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Zebra Network Technology Co Ltd
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Priority to CN201810293631.5A priority Critical patent/CN108734957A/en
Publication of CN108734957A publication Critical patent/CN108734957A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention provides a vehicle lane change guidance system and its bootstrap technique, wherein the vehicle lane change guidance system includes the information acquisition module for being in communication with each other connection, a guide service module and a vehicle guiding module.Described information acquisition module is used for collection vehicle data information and road data information, the wherein described guide service module receives the collected data information of described information acquisition module, information judges the congestion status of present road based on the data, with for a target vehicle lane change guidance information is being generated into recommendation before congested link, the wherein described vehicle guiding module obtains the lane change guidance information that the guide service module generates, and the data information according to current vehicle guides the target vehicle to travel to correct track.

Description

Vehicle lane change guidance system and its bootstrap technique
Technical field
The present invention relates to a vehicle guide systems, in more detail, are related to a vehicle lane change guidance system and its guiding side Method.
Background technology
Vehicle facilitates the trip of our life, while also resulting in many problems such as crowded of traffic, with vapour Vehicle is popularized, and the more and more exploitation of new-energy automobile, and now vehicle is also more and more driving on the road, and trip is gathered around The stifled time is also increasingly longer.Traffic congestion is one of modern metropolitan cities disease, and traffic administration is badly in need of being promoted.Traditional station can only fill in Vehicle issues scattered information afterwards for a period of time, is helpless to alleviate congestion.
And traditional navigation software can provide such as：Reminding turning, real-time voice/graphical cues, point of interest inquiry etc. The various navigation features to offer convenience for user's trip.But demand of the consumer based on location information be far not limited only to it is " next Crossing is turned left, second export into bypass " etc. simple navigation Service.Especially when congested link will be entered, such as The vehicle of fruit at this time is replaced not in time on correct traveling lane, may be trapped in congested link can not lane change, such as Vehicle needs to turn right at congestion ahead crossing, and vehicle at this time is in straight trip or left turn lane, then entering congestion area If that may cause turn in junction ahead without timely change lane before domain, to delay vehicle travel.Such as Lane change is likely to cause section crowded more serious fruit by force at this time, can aggravate the degree of crowding of road at this time, on the other hand, Road congested area lane change is also possible to that traffic accident can be caused.
Traditional navigation system gives current vehicle present position and carries out judging prompt, when vehicle advances to a positioning When setting, navigation system prompt vehicle participant in certain section lane change or is to maintain travel speed.It is traditional this to lead Boat system cannot timely be regulated and controled according to vehicle traveling information in present road and congestion level, also just inevitable in this way Cause automobile navigation not in time, and aggravation the road degree of crowding.
Invention content
It is an object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, can guide vehicle It is altered to correct traveling lane in time before entering congested link, prevents vehicle can not lane change traveling in congested link.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system can alleviate road traffic congestion situation, and driver is avoided to block up for a long time in the road for a long time.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Present road traffic information is transmitted to vehicle termination equipment by lane change guidance system by TMC, so that operating personnel are according to vehicle The prompt of terminal device selects suitable lanes.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Traffic Information can be transferred to driver by lane change guidance system in real time, so that operating personnel are in time in current vehicle Enter congestion regions before select suitable lanes.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap technique, wherein vehicle exists Correct track is altered to before congested link can be to avoid the pressure of original lanes, to mitigate the crowded situation of road.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system can judge current lane according to the travel speed and location information of other vehicles in present road Jam situation can be more accurately that vehicle plans driving path.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system can notify that nearby driving vehicle avoids in time before vehicle lane change, to timely dredge vehicle, It is avoided that and traffic accident occurs with other vehicles under steam.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system gives vehicle and cooks up travel speed and travel route in time before vehicle enters crowded road, So that driver selects to enter correct lanes.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system can dynamically be planned according to the real time information of road section traffic volume, avoid information not in time caused by advise Draw information errors.
It is another object of the present invention to provide a kind of vehicle lane change guidance system and its bootstrap techniques, wherein the vehicle Lane change guidance system may be used original TMC sending devices and Traffic Information be transmitted to driving vehicle in real time.It is not required to It additionally to establish signal and send base station, therefore the present invention provides a kind of cost-effective solution to solve lane change guiding.
One side according to the present invention, the present invention provide a vehicle lane change guidance system, including：
One information acquisition module, wherein described information acquisition module are used for collection vehicle data information and road data letter Breath；
One guide service module, wherein the guide service module receives the collected number of described information acquisition module It is believed that breath, information judges the congestion status of present road based on the data, and for a target vehicle entrance congested link it Preceding recommendation generates a lane change guidance information；And
One vehicle guiding module, wherein the vehicle guiding module obtains the lane change that the guide service module generates Guidance information, and data information according to current vehicle guide the target vehicle to travel to correct track.
According to one embodiment of present invention, wherein the guiding service module includes an information receiving module and a road Analysis module, described information receiving module be used to receive the data information that described information acquisition module collects, and will connect The data information transfer received is to the road analysis module, wherein the road analysis module is according to described information receiving module The data information received judges the jam situation of the road where the target vehicle.
According to one embodiment of present invention, wherein the road analysis module of the guiding service module is further wrapped A congestion judgment module and a road region division module are included, wherein the congestion judgment module is according to described information receiving module The data information received judges that the road that the target vehicle is travelled whether there is congested link, and by the road area The road that the target vehicle travels is divided into congestion regions and unobstructed area by division module.
According to one embodiment of present invention, wherein the guiding service module further comprises a guiding analysis module, The wherein described guiding analysis module is communicatively coupled to described information receiving module and road analysis module, and reception comes from described The partition information of the data information of information receiving module and the road analysis module, and generate phase for the target vehicle The lane change guidance information answered.
According to one embodiment of present invention, wherein the guiding analysis module further comprises being in communication with each other connection ground one Judgment module and a path recommending module are guided, wherein the guiding judgment module is collected according to described information acquisition module The traveling-position information and stroke purpose information of the target vehicle judge whether the target vehicle travels and are correctly travelling Track, and recommend a generation at least lane change guidance information by the path recommending module for the target vehicle.
According to one embodiment of present invention, wherein the guiding analysis module further comprises a lane change budget module, The wherein described lane change budget module is according to the collected data information of described information acquisition module, and is worked as based on the target vehicle Preceding driving information deduce the target vehicle can lane change region, and calculate the change track pitch needed for the target vehicle lane change From.
According to one embodiment of present invention, wherein the guiding judgment module of the guiding analysis module is according to Lane change distance needed for target vehicle lane change and it is described can the length in lane change region judge whether the target vehicle can normally become Road, and can recommend to generate one or more in lane change regional extent described for the target vehicle by the path recommending module Vehicle lane change path.
According to one embodiment of present invention, wherein it is described guiding analysis module according to the target vehicle position and The travel speed of vehicle is that the target vehicle recommends the lane change guidance information generated to include an at least vehicle lane change path Information, a vehicle lane change recommend travel speed and a vehicle lane change opportunity.
According to one embodiment of present invention, wherein the guide service module further comprise an information coding module and One information transmission modular, described information coding module are communicably connected to described information transmission module and guiding analysis mould Block, wherein described information coding module, which encode the lane change guidance information that the guiding analysis module generates to a TMC, to be believed Breath forms TMC coding informations, and the TMC coding informations is transmitted to the vehicle guided mode by described information transmission module Block.
According to one embodiment of present invention, wherein described information acquisition module includes an information of vehicles module and a road Information module, wherein the information of vehicles module be used to acquire the target vehicle and the data letter current with reference to vehicle Breath, the road information module be used to acquire the data information that the target vehicle is currently located road.
According to one embodiment of present invention, wherein the vehicle guiding module includes a message recipient and a decoding Device, wherein described information receiver be used to receive the TMC coding informations that the guide service module is sent, by the solution Code device parses to obtain the corresponding lane change guidance information of the target vehicle.
According to one embodiment of present invention, wherein the vehicle guiding module further comprises an automobile navigation module, The wherein described automobile navigation module receives the lane change guidance information for coming from the decoder, and according to the lane change guidance information The lane change of the target vehicle is prompted to operate.
According to one embodiment of present invention, wherein the vehicle guiding module further comprises a lane change reminding module, The lane change prompt message of the target vehicle is transmitted to described with reference to vehicle by the wherein described lane change reminding module.
Another aspect according to the present invention, the present invention further provides a vehicle lane change bootstrap techniques, including following methods Step：
A. judge that the road where a target vehicle whether there is congestion status, if road be in congestion status will described in Road is divided into congestion area and clear area；
B. judge whether presently described target vehicle travels in correct track, if target vehicle traveling is in correct vehicle Road is then maintained at current lane traveling；
C. speculate the target vehicle lane change can lane change region, and judge presently described target vehicle can it is described can Vehicle lane change is completed in lane change region；And
D. recommend to generate the suitable lane change guidance information of target vehicle, and the prompt target vehicle travels extremely in time Correct track.
According to one embodiment of present invention, wherein further comprising the steps before method and step a：Described in acquisition The vehicle traveling information of target vehicle, the target vehicle in the road other with reference to the information of vehicles of vehicle and described Road information where target vehicle.
According to one embodiment of present invention, wherein further comprising the steps in step d：
D.1 an at least lane change guidance information is generated by the guiding analysis module of the guide service module；With
D.2 the lane change guidance information of the target vehicle is transferred to the vehicle guiding module.
According to one embodiment of present invention, wherein step d.2 in further comprise the steps：
The lane change guidance information of the target vehicle is encoded to a TMC information, forms a TMC coding informations；With
The TMC coding informations are transferred to the vehicle guiding module.
According to one embodiment of present invention, wherein further comprising the steps in step d：
The vehicle guiding module receives the TMC coding informations for coming from the guide service module；
The decoder of the vehicle guiding module decodes the TMC coding informations, extracts in the TMC coding informations The lane change guidance information；With
Indicate that operation driver travels the target vehicle in correct Travel vehicle according to the lane change guidance information In road.
According to one embodiment of present invention, wherein the vehicle lane change guidance method further comprises the steps
E. it is described with reference to vehicle to what is nearby travelled to send a lane change prompt message, prompts the reference vehicle to pay attention to described The lane change of target vehicle operates.
Another aspect according to the present invention, the present invention further provides a vehicle lane change guidance systems, including：
One guidance information acquisition module,；The wherein described guidance information acquisition module be used for collection vehicle data information and Road data information；
One guidance information processing module is adopted wherein the guidance information processing module receives the guidance information acquisition module The vehicle data information and the road data information collected, is sent out as lane change data information；
One vehicle guiding module, wherein the vehicle termination module receives the described of the guidance information processing module transmission Lane change data information, and judge based on the lane change data information congestion status of present road, and generate an at least lane change and lead Fuse ceases, and prompts a target vehicle to drive to correct track according to the lane change guidance information.
By the understanding to subsequent description and attached drawing, further aim of the present invention and advantage will be fully demonstrated. These and other purposes of the present invention, feature and advantage, by following detailed descriptions, drawings and claims are able to abundant body It is existing.
Description of the drawings
Fig. 1 is the vehicle lane change guidance system block diagram of the first preferred embodiment according to the present invention.
Fig. 2 is the system signal of the vehicle lane change guidance system of above-mentioned first preferred embodiment according to the present invention Figure.
Fig. 3 be above-mentioned first preferred embodiment according to the present invention the vehicle lane change guidance system in congestion in road shape Condition schematic diagram.
Fig. 4 be above-mentioned first preferred embodiment according to the present invention the vehicle lane change guidance system in speculate can lane change Area schematic.
Fig. 5 is that the vehicle of the vehicle lane change guidance system of above-mentioned first preferred embodiment according to the present invention is recommended to become Path schematic diagram.
Fig. 6 is that the vehicle lane change of the vehicle lane change guidance system of above-mentioned first preferred embodiment according to the present invention carries Show schematic diagram.
Fig. 7 is the vehicle lane change guidance system vehicle guiding flow of above-mentioned first preferred embodiment according to the present invention Figure.
Fig. 8 is the vehicle lane change guidance system vehicle guidance method of above-mentioned first preferred embodiment according to the present invention Schematic diagram.
Fig. 9 is the vehicle lane change guidance system block diagram of the second preferred embodiment according to the present invention.
The system schematic of the vehicle lane change guidance system of Figure 10 above-mentioned second preferred embodiments according to the present invention.
Figure 11 be above-mentioned second preferred embodiment according to the present invention the vehicle lane change guidance system in congestion in road Situation schematic diagram.
Figure 12 be above-mentioned second preferred embodiment according to the present invention the vehicle lane change guidance system in speculate it is variable Road area schematic.
Figure 13 is that the vehicle of the vehicle lane change guidance system of above-mentioned second preferred embodiment according to the present invention is recommended Lane change path schematic diagram.
Figure 14 is the vehicle lane change of the vehicle lane change guidance system of above-mentioned second preferred embodiment according to the present invention Prompt schematic diagram.
Figure 15 is the vehicle lane change guidance system vehicle directed stream of above-mentioned second preferred embodiment according to the present invention Cheng Tu.
Specific implementation mode
It is described below for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in being described below Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description The present invention basic principle can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back Other technologies scheme from the spirit and scope of the present invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment, The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no It can be interpreted as the limitation to quantity.
With reference to shown in Fig. 1 to Fig. 8 of invention attached drawing, guided according to a vehicle lane change of the first preferred embodiment of the present invention System is set forth in following description.The vehicle lane change guidance system is used for the vehicle to travel in the road Lane change prompt service is provided, prevent vehicle from travelling to correct traveling lane cannot be altered in time after congested link, and led The traffic jam of cause.In other words, the vehicle lane change guidance system can be timely according to the jam situation of present road Believe prompt vehicle traveling in correctly walking track, lane change row again after avoiding vehicle from entering crowded section of highway according to the traveling of vehicle in ground Aggravate the crowded situation of road caused by sailing.
As depicted in figs. 1 and 2, wherein the vehicle lane change guidance system includes an information acquisition module 10, a guiding clothes Business module 20 and a vehicle guiding module 30 are used for wherein the vehicle guiding module 30 is built in target vehicle 100 Prompt the traveling of the target vehicle 100 in correct traveling lane.It will be appreciated by persons skilled in the art that in the present invention The first preferred embodiment described in target vehicle 100 be that the vehicle that is directed to correspondingly travels other vehicles in the road It is defined as referring to vehicle 200.It is understood that with the target vehicle 100 traveling in same path described in It can be guided for the lane change of the target vehicle 100 with reference to vehicle 200 and rational foundation is provided.10 quilt of described information acquisition module Setting is for acquiring present road information, and the presently described target vehicle 100 of acquisition and the traveling letter with reference to vehicle 200 Breath, such as the driving speed information of vehicle, location information and traveling target routing information etc..
It is Through Lane LS respectively it is understood that including three kinds of traveling lanes in motor-driven vehicle going road, turns right Track LR and left turn lane LL.When vehicle is travelled to road cross position, the vehicle in Through Lane LS can be straight Row is across crossing, and correspondingly, the vehicle in left turn lane LL and the right-turn lane LR can turn left or turn right.Such as The vehicle needs the junction ahead in section to turn right, and at this time the target vehicle 100 be in Through Lane LS or Travelled in left turn lane LL, junction ahead possibly can not normal lane change, particularly, when junction ahead is in congestion status, The target vehicle 100 is difficult in congested link lane change, if lane change may aggravate traffic congestion situation or cause to hand over by force The generation of interpreter's event.Therefore it is needed the target vehicle before the target vehicle enters the congested link in advance It is travelled in 100 lane changes to the right-turn lane LR.
In the first preferred embodiment of the present invention, 10 quilt of described information acquisition module of the vehicle lane change guidance system It is communicatively coupled to the guide service module 20, will be adopted by the described information acquisition module 10 of the vehicle lane change guidance system The driving information etc. of the road information collected, vehicle position information and vehicle is transmitted to the guide service module 20.It is described Guide service module 20 is believed according to the stroke of 10 collected data information of described information acquisition module and the target vehicle 100 100 correct driving path of the target vehicle is analyzed, calculated and generated to breath, then again by the guide service module 20 By the correct driving path data transmission of generation to the vehicle guiding module 30, so that driver leads according to the vehicle The prompt message for drawing module 30 travels vehicle in correct traveling lane.
It is understood that the target vehicle 100 is in the process of moving, by the vehicle guiding module 30 to described Guide service module 20 sends the request of road guidance information；Then from the guide service module 20 to described information acquisition module 10 send information collection instruction, and location information, the traveling of presently described target vehicle 100 are acquired by described information acquisition module 10 Information and road information etc..
The described information acquisition module 10 of the vehicle lane change guidance system is by collected data information transfer to described Guide service module 20, then the lane change guidance system 20 judge that the target vehicle is gone according to collected data information The congestion in the section sailed, and current road segment is divided by clear area L1 and congestion area L2 according to the jam situation in section.Work as institute The traveling of target vehicle 100 is stated in the clear area L1, before entering congestion area L2, by 20 basis of guide service module Whether the travel information of the target vehicle 100 and the location information of traveling judge presently described target vehicle in correct traveling Track, and the congestion based on present road predict the distance that the target vehicle enters congestion regions, and based on working as The speed of vehicle in front traveling calculates the time of vehicle operation for reaching congestion regions.If presently described target vehicle 100 is in Correct traveling lane is then maintained at the traveling lane and continues to keep straight on.On the contrary, when the Travel vehicle of the target vehicle 100 When road is with correct traveling lane difference, lane change instruction is generated by the guide service module 20, and the lane change is instructed The vehicle guiding module 30 of the target vehicle 100 is transmitted to by the guide service module 20, so as to by the vehicle Guiding module 30 prompts driver's change lane in time before entering congestion regions, prevents vehicle in the track of mistake Middle traveling enters the congestion area L2.
Specifically, described information acquisition module 10 be used to acquire the driving information of the target vehicle 100 and current Road information, and by described information acquisition module 10 by collected data information transfer to the guide service module 20.Institute It includes an information of vehicles module 11 and road information module 12 to state information acquisition module 10, wherein the information of vehicles module 11 is By the target vehicle 100 and the driving information etc. with reference to vehicle 200 collected presently described road section information and vehicle. The road information module 12 is arranged for acquiring the road information number in the road of the traveling of presently described target vehicle 100 According to, for example the road section information in road, cartographic informations such as length of road etc., while the road information module 12 can also quilts It is arranged for acquiring the vehicle data in presently described road, such as the size of the vehicle flowrate in current driving road and current The information such as number of vehicle in road.
The information of vehicles module 11 of described information acquisition module 10 includes a target vehicle information module 111 and reference Information of vehicles module 112, wherein the travel speed that the target vehicle information module 111 includes presently described target vehicle is believed Breath, the location information of current vehicle and the travel information of current vehicle etc..It is understood that the travel information refers to Walking path of the presently described target vehicle 100 from current location to from destination locations.It will be appreciated by those skilled in the art that , the target vehicle information module 111 can pass through the installation position sensor in the target vehicle 100 and speed and pass The devices such as sensor are come speed data and the position data etc. that acquire presently described target vehicle 100.Those skilled in the art can be with Understand, any vehicle all has the identity information different from other vehicles, therefore, the target vehicle information module 111 further comprise the vehicle identification symbol of target vehicle, 20 basis of guide service module of the automobile vehicle guiding system The vehicle identification of the target vehicle 100 accords with the change Dow Jones index to be identified to the target vehicle and will accordingly obtain Argument evidence is transmitted to corresponding target vehicle.It is noted that in the first preferred embodiment of the present invention, the target carriage 100 and it is described all have unique vehicle identification symbol with reference to vehicle 200, the guide service module 20 is according to the institute being collected into Target vehicle 100 is stated and described with reference to 200 corresponding information data of vehicle, then by the lane change director information of generation accordingly It is transferred to the target vehicle 100, and a lane change prompt message is correspondingly transferred to the mesh by the target vehicle 100 Mark vehicle 100 subsequently travels described with reference to vehicle 200, so that the target vehicle 100 is safer during lane change.
Correspondingly, described with reference to information of vehicles 112 is by being arranged in the position sensing with reference in vehicle 200 Device and velocity sensor etc. are by the speed data of collected current reference vehicle 200 and position data etc..It is described to refer to vehicle It is transmitted in the guide service module 20 after information 112 is collected, vehicle is referred to according to described by the guide service module 20 Information 112 is divided into the congestion area L2 and institute to judge the jam situation in presently described section, and by presently described section State clear area L1.
The road information module 12 is arranged for acquiring in the running section that the target vehicle 100 is currently located The information of vehicles travelled in road information and road, such as information of vehicle flowrate, current vehicle speed information etc..Specifically, the road Road information module 12 is will be collected by the way that the real-time monitoring equipment of road either mobile sensor device is arranged in the road The road information is transmitted in real time in the guide service module 20.
Shown in as shown in Figure 1, Figure 3 and Figure 4, the reception of guide service module 20 comes from the acquisition of described information acquisition module 10 The data information arrived, and collected data information is subjected to calculating analysis, it is collected into according to described information acquisition module 10 The travel is divided into the clear area L1 and the congestion area L2 by data information.By the guide service module 20 The target vehicle is given according to the location of described target vehicle 100 and cooks up correct driving path, and by the traveling Path transmission to the target vehicle 100 the vehicle termination equipment 30.
The guide service module 20 is based on referring to vehicle described in 10 collected present road of described information acquisition module 200 quantity, the average overall travel speed with reference to vehicle 200 calculate the flow information for analyzing vehicle in present road. It is understood that the vehicle in road is continually changing, the vehicle in congestion area L2 is also constantly to moving ahead It sails to clear area L1.Correspondingly, if the jam situation of the congestion area L2 of road ahead cannot be alleviated, in congestion area L2 it Preceding vehicle can constantly drive in the congestion area L2.Simply, described in being entered when the traveling of the target vehicle 100 Before congestion regions L2, the distance of the clear area L1 and the L2 is the moment in variation.Therefore, the guide service module 20 current road segments collected based on the current travel speed of the target vehicle 100 and described information acquisition module 10 and The data information of vehicle, thus it is speculated that go out distance of the target vehicle 100 before entering the congestion area L2, so as to variable Recommend to generate for the target vehicle 100 within the scope of road and reasonably becomes path.
In detail, the guide service module 20 includes an information receiving module 21, is communicatively coupled to described information One road analysis module 22 and one of receiving module 21 guides analysis module 23.The reception of described information receiving module 21 comes from institute The 30 boot request information of the terminal device of target vehicle 100 is stated, is then come from by the reception of described information receiving module 21 In the 100 current institute of driving information and the target vehicle of the collected target vehicle of described information acquisition module 10 100 Road information etc..It is understood that communication is set in the described information receiving module 21 of the guide service module 20 Ground is connected to the road analysis module 22 and the guiding analysis module 23, by described information receiving module 21 by described information 10 collected information of vehicles of acquisition module and road information are transmitted to the road analysis module 22 and guiding analysis Module 23.The jam situation of present road is analyzed by the road analysis module 22, presently described target vehicle 100 is apart from institute State the length of congestion area L2, and can lane change range etc., and by the guiding analysis module 23 be the target vehicle 100 according to According to the current driving speed information of the target vehicle 100, location information can recommended to generate an at least lane change within the scope of lane change Guidance information.It is understood that the lane change guidance information includes at least a vehicle lane change routing information, when a vehicle lane change Machine, a vehicle lane change points for attention, a vehicle lane change prompt message and the above-mentioned combined information etc. in relation to vehicle lane change.
As shown in figure 3, the road analysis module 22 is collected described with reference to vehicle according to described information acquisition module 10 200 location information and the velocity information judge when the jam situation in section.It will be appreciated by those skilled in the art that , the section analysis module 22 is according to vehicle in the quantity of the vehicle in the unit length in present road and a certain section The speed of flowing judges the jam situation of present road section.For example, the number of vehicles in present road in unit length When the average speed of vehicular movement is less than a certain travel speed when higher than certain amount and/or in current road segment, the road point Analysis module 22 will determine that section at this time is crowded section of highway.On the contrary, the vehicle number in unit length in the current road segment When mesh is higher than speed less than the average speed of vehicular movement in certain amount or current road segment, the road analysis module 22 is sentenced Disconnected current section is unimpeded section.
It is understood that the road analysis module 22 can also be according to the road of described information acquisition module 10 12 collected road information of information module judges the congestion status of present road, and the length of present road is calculated, The quantity of vehicle in the congestion area L2 and/or clear area L1, the average overall travel speed of vehicle, information of vehicle flowrate etc..Institute The road information module 12 for stating information acquisition module 10 is adopted by the way that mobile sensor device in the road is arranged or fixes Acquisition means acquire the actual traffic situation of present road, therefore are judged by 12 collected information of the road information module Result may more directly.
The section analysis module 22 includes a congestion judgment module 221, a road section region division module 222, Yi Jiyi Lane change budget module 223.The congestion judgment module 221 of the section analysis module 22 is according to described information receiving module 21 The real time information of reception judges section at this time as crowded section of highway or unimpeded section.If section at this time is crowded section of highway, The road is divided into the clear area L1 and the congestion area L2 by the section region division module 222.It is worth one Be mentioned that, in any track for the road that the target vehicle 100 is currently travelled all may include the clear area L1 and The congestion area L2.That is, the Through Lane LS includes a straight trip unobstructed area LS1 and a straight trip congestion regions LS2； The left turn lane LL includes an a left-hand rotation unobstructed area LL1 and left-hand rotation congestion regions LL2；Right-turn lane LR includes that a right-hand rotation is smooth A logical region LR1 and right-hand rotation congestion regions LR2.Preferably, the section region division module of the road analysis module 22 222 regard as the longest congestion regions in the Through Lane LS, the left turn lane LL and the right-turn lane LR The congestion regions L2 in the section.
It is noted that the section region division module 222 of the section analysis module 22 is according to present road It is middle traveling the reference vehicle 200 before the target vehicle 100 number and present road in vehicular movement speed into Row calculates the information such as the distance length of length and the congestion area L2 for analyzing the clear area L1.
It is understood that the congestion judgment module 221 of the road analysis module 22 is received according to described information The road of the current goal vehicle traveling of the information of vehicles module 11 for the described information acquisition module 10 that module 21 receives The translational speed information of the middle vehicle with reference to vehicle 200 and location information come judge in the congestion area L2 vehicle number With the flowing velocity etc. of the vehicle in congestion area L2.The congestion judgment module 221 of the road analysis module 22 is further The road of the road information module 12 of the described information acquisition module 10 received also according to described information receiving module 21 Information further determines that vehicular movement speed in present road, and calculates gathering around for presently described 100 place road of target vehicle The information such as the vehicle flowrate size in stifled region and the average speed of speed traveling.
The lane change budget module 223 of the section analysis module 22 is arranged for calculating presently described target vehicle 100 The time needed when being altered to the track correctly travelled by present track, required vehicle lane change operating range.The road The lane change budget module 223 of piecewise analysis module 22 is also used for according to the travel speed for referring to vehicle 200 described in present road The vehicle row that the target vehicle 100 reaches the congestion area L2 is speculatively calculated in advance with the vehicle flowing information of the vehicle in track Sail distance.In other words, this of the vehicle operating range of the congestion area L2 is reached by the target vehicle 100 deduced What section section was considered as the target vehicle 100 can lane change region L3.
It is understood that the lane change budget module 223 speculate budget it is described can the distance of lane change region L3 need The vehicle lane change operating range current at least more than the target vehicle 100, the target vehicle 100 can be normally in institutes State the lane change that vehicle is completed in clear area L1.In addition, the lane change budget module 223 of the section analysis module 22 can also Location information based on presently described target vehicle 100 and driving speed information, thus it is speculated that go out the lane change opportunity of vehicle.The guiding The described information receiving module 21 for being communicatively coupled to the guide service module 20, the guiding point is set in analysis module 23 Analysis module 23 receives the information for coming from collected 100 current driving lane of the target vehicle of described information acquisition module 10 And the driving information and location information etc. of presently described target vehicle 100.The mesh is judged by the guiding analysis module 23 Whether mark vehicle 100 needs lane change, and recommends to generate and correspondingly become path.
The traveling purpose information and the target vehicle 100 that analysis module 23 is guided according to the target vehicle 100 Current location information come judge 100 position of presently described target vehicle whether be in correct position.If presently described The location information that the traveling purpose information and the target vehicle 100 of target vehicle 100 are current is mutually matched, that is to say, that The target vehicle just traveling then judges that the target vehicle is maintained at current lane row at this time on correct traveling lane It sails.Correspondingly, when the current location information of the traveling purpose information of the target vehicle 100 and the target vehicle 100 not It can correctly match, then corresponding to the target vehicle 100 by the guiding analysis module 23 generates lane change hint instructions, to carry Show that the driver for driving the target vehicle 100 can change back to the vehicle correctly travelled before entering the congestion regions L2 Road.
In detail, the guiding analysis module 23 includes a guiding judgment module 231 and a path recommending module 232, The vehicle collected according to described information acquisition module 10 by the guiding judgment module 231 of the guiding analysis module 23 Data information carries out judging whether the target vehicle 100 exercises in correct track.If the target vehicle 100 is just again It exercises in correct track, then corresponding to the target vehicle 100 by the guiding judgment module 231 generates a holding straight trip Decision instruction；On the contrary, when the traveling purpose information of the target vehicle 100 and the lane information of current driving are not inconsistent, then The target vehicle 100 is corresponded to by the guiding judgment module 231 and generates lane change instruction.The guiding judgment module 231 The lane change instruction or keep vehicle straight trip instruction be transferred to it is described guiding analysis module 23 the path recommendation mould Block 232 is that the target vehicle 100 is recommended to generate suitable lane change guide path by the path recommending module 232.It is described The recommendation paths information that path recommending module 232 generates be used to guide or the target vehicle 100 or vehicle prompted to drive Personnel are sailed to travel the vehicle to correct track.
It is noted that the path recommending module 232 of the guiding analysis module 23 is analyzed according to the section The congestion regions L2 and clear area L1 that module 22 divides generate corresponding planning path.In other words, the guiding analysis module The 23 path recommending module 232 is to cook up corresponding recommendation paths information in clear area L1 in travel, with Toilet states target vehicle 100 can complete lane change before entering congestion regions.
Fig. 5 of invention attached drawing shows the path of the guiding analysis module 23 of the first preferred embodiment of the invention A kind of vehicle traveling planning path that recommending module 232 generates.The target vehicle 100 travels the left-hand rotation vehicle in present road In road LL, and according to the traveling purpose information of the target vehicle 100, the target vehicle 100 is needed in present road Straight-going state is turned right or be to maintain to junction ahead, therefore the target vehicle 100 needs before entering congestion regions L2 Transformation, which drives in right-turn lane LR, to travel.It is described when the target vehicle also travels in the clear area L1 of road Guide service module 20 receives the target vehicle 100 that is collected from described information acquisition module 10 and described refers to vehicle 200 driving speed information and vehicle position information etc..By the road analysis module of the guide service module 20 The 21 travel speed suppositions based on presently described target vehicle 100 calculate the target vehicle 100 apart from the congestion area L2 in advance Distance.The path recommending module 232 of the guiding analysis module 23 refers to according to the judgement of the guiding judgment module 231 Enable it is described can lane change region L3 be that the target vehicle 100 recommends to generate at least one and recommends lane change driving path, and at least one Lane change travels opportunity.It is understood that the path recommending module 232 is the recommendation that the target vehicle 100 generates Driving path and lane change traveling opportunity are respectively used to prompt the driver behavior personnel of vehicle and the vehicle suitable Actually it is altered to suitable driving vehicle.Preferably, the recommendation lane change driving path and the lane change traveling opportunity respectively by Pass through animation, action, the driver behavior personnel for travelling the prompt vehicle of image and voice prompt.
It is noted that the vehicle lane change path that the path recommending module 232 is cooked up is according to the target carriage Location information of 100 travelings in current track, what velocity information etc. was planned, and the path recommending module Other in 232 tracks travelled also according to the target vehicle 100 are raw with reference to the location information of vehicle 200 and velocity information etc. At rational planning path, avoid the target vehicle 100 collide with reference to vehicle 200 with other during lane change or Hinder other with reference to traffic problems such as the travelings of vehicle 200.
The vehicle lane change routing information that the path recommending module 232 is cooked up be used to guide the target vehicle 100 Driver behavior personnel, by providing rational lane change routing information to the driver behavior personnel, by operating personnel described It can timely lane change within the scope of the L3 of lane change region.The path recommending module 232 is that the target vehicle 100 generates corresponding lane change Information, wherein the lane change information still further comprises the advisory speed information of vehicle traveling and recommends lane change temporal information.Institute It states target vehicle 100 to need to change track with rational travel speed and in the lane change time in lane change driving process, otherwise may be used The target vehicle 100 can be caused to hinder the traveling with reference to vehicle 200 of the traveling after the target vehicle 100.
It will be appreciated by persons skilled in the art that above-mentioned lane change schematic diagram illustrates only the target vehicle 100 A kind of lane change embodiment.The target vehicle 100 can also be according to the position and row that the target vehicle 100 is currently located It sails purpose information specifically to transform in other traveling lanes, for example the target vehicle 100 is in Through Lane LS, is needed Junction ahead turns left, and the path recommending module 232 correspondingly generates the left-hand rotation lane change letter corresponding to the target vehicle 100 Breath, and recommend to generate corresponding recommendation paths information, advisory speed information etc..
The recommendation paths information for the target vehicle that the guide service module 23 generates is transferred to the vehicle and leads Draw in module 30, recommendation information is showed by driver by the vehicle guiding module 30, so that driver can root Timely lane change is carried out according to current prompt message.
The guide service module 20 is communicably connected to the vehicle guiding module 30, by the guide service module 20 send recommendation paths information and prompt message etc. to the vehicle guiding module 30.Preferably, the present invention first compared with In good embodiment, the guide service module 20 is by TMC (Traffic Message Channel, Traffic Message Channel) The recommendation paths information that the guide service module 20 generates is transmitted to the vehicle guiding module 30 in an encoded form, so Extract described recommendation paths information etc. after afterwards the TMC information received being decoded by the vehicle guiding module 30.
In detail, the guide service module 20 further comprises an information coding module 24 and an information transmission modular 25, wherein the recommendation road that the described information coding module 24 of the guide service module 20 generates the guiding analysis module 23 Diameter information and prompt message etc. by described information in the form coding of digital information to a TMC information, then to transmit mould TMC coding informations after coding are transmitted to the vehicle guiding module 30 by block 25 again.It is noted that described information encodes Module 24 is the TMC codings generated according to the vehicle identification of the target vehicle 100 symbol corresponding to the target vehicle 100 Information.In other words, described information coding module 24 generates corresponding for the vehicle identification symbol of the target vehicle 100 Then the TMC coding informations of generation are transmitted to the target vehicle 100, described in the target vehicle by TMC coding informations Vehicle guiding module 30 is decoded and/or parses.Only correspond to 30 ability of the vehicle guiding module of target vehicle 100 The corresponding TMC coding informations are correctly parsed, other can not be parsed with reference to the vehicle guiding module 30 of vehicle 200 Corresponding to the TMC coding informations of the target vehicle 100.
It will be appreciated by persons skilled in the art that the TMC is the shape that information such as broadcast message etc. is passed through broadcast Formula is transmitted in the terminal device of vehicle, receives or show operation to drive TMC broadcast messages again by the terminal device of vehicle Personnel.The TMC broadcast messages are that TMC information is transmitted to vehicle end by broadcast message by broadcast message dispatching station in real time End equipment.Therefore, the TMC coding informations after being encoded include that original TMC broadcast messages and encryption are incorporated into the TMC The vehicle lane change guidance information of broadcast message.The TMC coding informations pass through the terminal device of the target vehicle 100 The vehicle lane change that encryption is incorporated into the target vehicle 100 in the TMC coding informations by parsing and decrypting process guides letter Breath extracts, and is then guided to operation driver by the terminal device of the target vehicle 100.
The described information transmission module 25 of the guide service module 20 of the vehicle lane change guidance system communicatedly will be described The described information coding module of the vehicle guiding module 30 and the guide service module 20 of target vehicle 100, by described Guide service module 20 will be encoded after the TMC coding informations be transmitted to the target vehicle 100 the vehicle guiding Module 30.In the first preferred embodiment of the present invention, the guide service module 20 of the vehicle lane change guidance system is The vehicle guiding module being transmitted to lane change guidance information by the form of TMC coding informations in the target vehicle 100 30.Preferably, described information transmission module 25 includes multiple signal projectors 251, wherein the signal projector 251 can connect It receives the TMC coding informations for coming from described information coding module 24 and is transmitted to the TMC coding informations after coding The vehicle guiding module 30 in the target vehicle 100.
It is noted that described information transmitter 251 be implemented as in the first preferred embodiment of the present invention it is described The transmitter of TMC broadcast singals.In other words, the vehicle lane change guidance system is broadcasted vehicle lane change by the TMC Guidance information is transmitted to the vehicle termination equipment in the target vehicle 100, saves to a certain extent so described The expense of vehicle lane change guidance information transmission.It is noted that the described information of the first preferred embodiment according to the present invention Transmission module 25 makes in such a way that the signal projector 251 transmits TMC coding informations to described information transmission module 25 Example and it is unrestricted.The information transmission mode of other embodiment according to the present invention can also be applied to the present invention.As long as energy Enough achieve the purpose that transmit vehicle lane change guidance information, the present invention is unrestricted in this regard.
It is noted that the guide service module 20, which is the vehicle for generating the guiding analysis module 23, guides letter Breath is encoded into the TMC coding informations by described information coding module 24.It will be appreciated by persons skilled in the art that described draw The vehicle that the guiding analysis module 23 generates can also be drawn by way of other information transmission by leading service module 20 Lead the vehicle guiding module 30 that information is transmitted in the target vehicle 100.For example, the guiding analysis module 23 may be used also The vehicle guiding module 30 in the target vehicle 100 is connected in a manner of using wireless network transmissions to take in the guiding Business module 20, so it is straight by the vehicle guidance information that the guide service module 20 generates the guiding analysis module 23 The form for connecting wireless network transmissions is transmitted to the vehicle guiding module 30 in the target vehicle 100.According to this hair The information transmission mode of bright other embodiment can also be applied to the present invention.As long as transmission vehicle lane change guiding can be reached The purpose of information, the present invention are unrestricted in this regard.
According to the first preferred embodiment of the present invention, the vehicle guiding module 30 is arranged in a vehicle, the vehicle Terminal guidance module 30, which may be implemented as one, has navigation device, can also be implemented with display and prompt facility Other kinds of electronic device.It is noted that the vehicle guiding module 30 is when guiding the vehicle traveling Based on the target vehicle 100 and traveling-position information, the information such as travel speed and the current traveling mesh of the target vehicle 100 's.Wherein the vehicle guiding module 30 be used to receive the described information transmission module for coming from the guide service module 20 The TMC coding informations of 25 transmission, and the TMC coding informations are decoded and are parsed.The vehicle guiding module 30 Corresponding vehicle guidance information is obtained after the TMC coding informations received are decoded and are parsed, then by described The vehicle guidance information that parsing obtains is showed driver behavior personnel by vehicle guiding module 30, to prompt operating personnel Lane change operation is carried out in time.
In detail, the vehicle guiding module 30 includes a message recipient 31, and a decoder 32 and a vehicle are led Model plane block 33, wherein the decoder 32, which is set, is communicatively coupled to described information receiver 31 and the automobile navigation module 33.The described information receiver 31 of the vehicle guiding module 30 receives the described information for coming from the guide service module 20 The TMC coding informations that transmission module 25 is transmitted, and the TMC coding informations received are transmitted to the decoder 32.The decoder 32 is arranged for decrypting and parsing coming from the TMC codings that described information receiver 31 receives Information, wherein the decoder 32 is arranged for extracting the vehicle guidance information in the TMC coding informations.In other words Say, the decoder 32 be arranged for extracting be encoded in the TMC coding informations be incorporated into it is described in the TMC information Vehicle guidance information.
It is noted that the decoder 32 is the target vehicle 100 according to the information of vehicles module 11 Information of vehicles accords with parsing the vehicle guidance information in the TMC coding informations.In other words, the target vehicle is corresponded only to The information of vehicles symbol of the vehicle guiding module 30 in 100 could correctly parse the vehicle of the target vehicle 100 Guidance information.
The vehicle guidance information of the target vehicle 100 obtained by parsing by the decoder 32 is transferred to The automobile navigation module 33, then by the automobile navigation module 33 by the navigation information of presently described target vehicle 100 Pass to operation driver.It is understood that the automobile navigation module 33 can be set to a variety of navigation modes, than Include such as being carried by voice in the display screen of vehicle by the recommendation run routing information of vehicle and advisory speed information The form prompt driver behavior personnel shown, or the timely lane change row of operating personnel is prompted by the driving indicating device of car setting It sails.Correspondingly, the automobile navigation module 33 includes a voice broadcast module 331, a display reminding module 332, wherein described Voice broadcast module 331, which is set, carries the vehicle guidance information that the parsing of the decoder 32 obtains by the form of voice prompt Supply driver behavior personnel.The display reminding module 332 be by the vehicle guidance information that the decoder 32 obtains include In the display screen of vehicle.
The target vehicle 100 touches during lane change with the vehicle 200 that refers to subsequently travelled in order to prevent It hits, and the target vehicle 100 and the vehicle 200 that refers to preferably is guided to be travelled in respective track, the vehicle is led Draw module 30 and further comprise a lane change reminding module 34, wherein the lane change reminding module 34 can be by the target vehicle 100 lane change guidance information is transferred to the target vehicle 100, and nearby the described of traveling refers to vehicle 200.
It is understood that lane change information alert being given by the target vehicle 100 of the lane change reminding module 34 The target vehicle 100 nearby travels described with reference to vehicle, especially travels and be located at institute in the same direction with the target vehicle 100 State the reference vehicle 200 of target vehicle 100 behind.The lane change reminding module 34 is sent out to described with reference to vehicle 200 The lane change prompt message can prompt it is described refer to vehicle 200 so that it is described with reference to vehicle 200 have enough reactions when Between, and rational evacuation lane change vehicle.
Shown in Fig. 6 of refer to the attached drawing, the target vehicle 100 receives in the process of moving comes from the guide service mould The lane change guidance information of block 20, the vehicle guiding module 30 in the target vehicle 100 will be described in parsing obtain The lane change guidance information of target vehicle 100, then by the lane change reminding module 34 of the vehicle guiding module 30 The lane change information of the target vehicle 100 is transmitted to the reference vehicle 200 that the target vehicle 100 nearby travels, with toilet Enough traveling spaces can be obtained in lane change driving process by stating target vehicle 100, and the target vehicle 100 is avoided to become Road process collides with reference to vehicle 200.Preferably, the vehicle guiding module 30 of the target vehicle 100 is only by institute State the reference vehicle 200 that the lane change information alert of target vehicle is subsequently travelled to the target vehicle 100.
The target vehicle 100 refers to vehicle 200 to described in advance before lane change from the lane change reminding module 34 A lane change hint instructions are sent, wherein the lane change hint instructions, which include that prompt is described, refers to 200 presently described target carriage of vehicle 100 apart from the actual range with reference to vehicle 200, the current driving speed of the lane change target vehicle 100, the target The information such as the change path that vehicle 100 generates.When described the transmission of lane change reminding module 34 is received with reference to vehicle 200 The lane change hint instructions after, according to the lane change information of target vehicle 100 and prompt described in the lane change hint instructions The information of the evacuation with reference to vehicle 200 is that the reference vehicle generates at least one evacuation by the lane change reminding module 34 Information.The evacuation information with reference to vehicle 200 includes the avoidance path with reference to vehicle 200, recommends travel speed, Prompt message etc. is avoided.
Fig. 7 of invention attached drawing shows the vehicle lane change guiding flow of the vehicle lane change guidance system of the present invention.Institute It states target vehicle 100 and can collect the target vehicle 100 by described information acquisition module 10 in the process of moving and work as Preceding location information, driving speed information, with reference to the information of vehicles of vehicle 200 and the road information etc. of present road.By institute The target vehicle required change track pitch in lane change can be calculated by stating the current driving speed information of target vehicle 100 From.By the guide service module 20 described in be the trace analysis module 22 according to described information acquisition module 10 collect Judge whether place's present road is in congestion status with reference to the information of vehicles and road information of vehicle 200.If presently described mesh When being not on congestion status in front of the traveling of mark vehicle 100, then lane change guidance information is not generated；Correspondingly, current when judging When track is in congestion status, then the traveling mesh by the guiding analysis module 23 of the guide service module 20 according to vehicle Information and the location information of the target vehicle 100 judge whether the target vehicle needs lane change.When the guiding point The guiding analysis module 22 of analysis module 20 judges that the track that the target vehicle 100 is travelled is correct, then does not guide vehicle Lane change；On the contrary, when the road that the target vehicle 100 travels is incorrect, then 100 timely lane change of the target vehicle is prompted.
The road analysis module 22 of the guide service module 20 is believed according to the presently described position with reference to vehicle 200 The driving speed information of breath and current reference vehicle marks off the congestion area L2 and the clear area L1 of road, and calculates and work as Actual range of the target vehicle of preceding road apart from the congestion area L2.The road analysis module 22 is also according to the ginseng The flowing information for examining the current driving speed information and current reference vehicle 200 of vehicle 100, judges the target vehicle 100 Can lane change region L3.The guide service module 20 be the target vehicle 100 it is described can be described in the L3 of lane change region Target vehicle 100 generates at least a lane change guided path and lane change prompt message.
The lane change prompt message that the vehicle termination module 30 is generated according to the guide service module 20 prompts institute The driver behavior personnel for stating vehicle and the target vehicle 100 in time travel vehicle to correct track.It is carried by the lane change Water module 34 is that the reference vehicle 200 to pass through with the target vehicle generates an at least lane change hint instructions, to prompt It states and pays attention to 100 lane change of the target vehicle in time with reference to vehicle 200 and reserve safe lane change distance.
Fig. 8 of invention attached drawing shows that the vehicle of the vehicle lane change guidance system of the first preferred embodiment of the invention becomes Road guidance method.The vehicle lane change guidance system is according to the target vehicle 100 and with reference to the speed of 200 current driving of vehicle Judge whether presently described target vehicle 100 travels in correct track with location information, and works as 100 row of the target vehicle It sails and the target vehicle 100 is guided to be altered to the track correctly travelled in time during road driving at wrong track.
S1, judge that the road at 100 place of a target vehicle whether there is congestion status, if road is in congestion status and incites somebody to action The road is divided into congestion area and clear area.It is understood that if the road where the target vehicle 100 is not present Road need not be then divided into the congestion area and the clear area by congestion status, also need not dynamically guide the target 100 lane change of vehicle.
It is noted that further comprising the steps before step S1：Acquire the vehicle of the target vehicle 100 Driving information, the target vehicle 100 in the road other with reference to vehicle 200 information of vehicles and the target vehicle Road information where 100.
S2, judge whether presently described target vehicle 100 travels in correct track.By drawing for the guiding analysis module 23 Judgment module 231 is led according to the location information of 100 current driving of the target vehicle and the traveling mesh of the target vehicle 100 Information judge whether the target vehicle 100 travels in correct traveling lane.
If the target vehicle 100 travels in correct traveling lane, the driving path that vehicle is current is kept, and Recommended to generate suitable travel speed according to the jam situation of road.
S3, speculate 100 lane change of target vehicle can lane change region length, and judge presently described target vehicle Whether 100 meet lane change requirement.If the distance length that 100 lane change of the target vehicle needs be more than it is described can lane change region Length is then unsatisfactory for lane change demand, then cannot be that the target vehicle 100 generates dynamic lane change guide.
S4, recommend to generate the 100 suitable lane change guidance information of target vehicle, and the prompt timely row of target vehicle It sails to correct track.In step s 4, further comprise the steps：
Further comprise following methods step in method and step S4：By the described information of the vehicle guiding module 30 Receiver 31 receives the TMC coding informations for coming from the guide service module 20；By the vehicle guiding module 30 The TMC coding informations are decoded by the decoder 32, extract the lane change guiding letter in the TMC coding informations Breath；Indicate that operation drives according to the lane change guidance information with the navigation module 33 by the lane change guidance information module 30 Personnel travel the target vehicle 100 in correct traveling lane.
In addition, the lane change guidance method of the vehicle lane change guidance system further comprises step S5, sends a prompt change Road information is described with reference to vehicle 200 to what is nearby travelled.The lane change of the lane change reminding module 34 and the target vehicle 100 Guidance information and the location information with reference to vehicle 200 are described described with reference to vehicle 200 with reference to the generation prompt of vehicle 200 The prompt message of 100 lane change of the target vehicle is paid attention to, wherein the prompt message includes the evacuation road with reference to vehicle 200 Diameter, the recommendation travel speed etc. with reference to vehicle 200.
Vehicle guiding module vehicle guiding module vehicle guiding module vehicle guiding module vehicle guiding module vehicle guides Vehicle module guiding module vehicle guiding module
It is preferable according to the second of the vehicle lane change guidance system of the present invention with reference to shown in Fig. 9 to Figure 15 of invention attached drawing Embodiment is set forth in following description.The vehicle lane change guidance system be used to travel in the road Vehicle provides lane change prompt service, prevents vehicle that cannot be altered to correct traveling lane in time after travelling to congested link, and Caused traffic jam.In other words, the vehicle lane change guidance system can according to the jam situation of present road and When according to the traveling of vehicle believe prompt vehicle traveling correctly walking track, lane change again after avoiding vehicle from entering crowded section of highway Aggravate the crowded situation of road caused by traveling.
As shown in Figure 8 and Figure 9, wherein the vehicle lane change guidance system includes a guidance information acquisition module 10A, one leads Draw a message processing module 20A and vehicle guiding module 30A.The guidance information acquisition module 10A is communicably connected to Collected vehicle guidance information is transmitted to by the guidance information processing module 20A by the guidance information acquisition module 10A The guidance information processing module 20A；The guidance information processing module 20A is communicably connected to the vehicle guiding module The guidance information handled well is transmitted to the vehicle guiding module 30A, then by 30A by the guidance information processing module 20A Operation driver is prompted according to the vehicle guidance information by the vehicle guiding module 30A.
In detail, the guidance information acquisition module 10A be used to acquire the position for the target vehicle 100 for needing to navigate Information, driving speed information etc. acquire its in the road section information that the target vehicle 100 is travelled, and the acquisition section He refers to location information, the driving speed information etc. of vehicle 200.Correspondingly, the guidance information acquisition module 10A includes together A road information acquisition module 11A and collecting vehicle information module 12A, wherein use is set in the road information acquisition module 11A In the road section information for acquiring the target vehicle 100 and being travelled, include the length of current road segment, traveling state of vehicle etc..It is described Collecting vehicle information module 12A be used to acquire the target vehicle 100 and the traveling-position letter current with reference to vehicle 200 Breath and current driving speed information etc..
The road information acquisition module 11A is the real-time monitoring equipment or mobile biography by the way that road is arranged in the road The devices such as induction device acquire presently described target vehicle 100 using the real-time monitoring equipment or mobile sensor equipment and travel Road in information of vehicle flowrate and traffic information and road map information etc..The road information acquisition module 11A is again By in the collected road information of vehicle flowrate and the traffic information etc. be transmitted to the guidance information processing module.
The collecting vehicle information module 12A is travelled for acquiring the target vehicle 100 and the target vehicle 100 Road in other with reference to vehicle 200 driving speed information and location information etc..It will be appreciated by those skilled in the art that , may determine that according to traveling-position information and the driving speed information etc. that refer to vehicle 200 described in road current The jam situation of road.It is noted that the target vehicle 100 and the driving speed information with reference to vehicle 200 and Location information, which can in real time be acquired by the position sensor of setting in the car and position sensor etc. to the vehicle, to be believed It ceases in acquisition module 12A.
It is understood that the target vehicle 100 is in the process of moving, by the vehicle guiding module 30A to institute It states guidance information processing module 20A and sends road boot request；Then from the guidance information processing module 20A to described information Acquisition module 10 sends information collection instruction, and the position of presently described target vehicle 100 is acquired by described information acquisition module 10 Information, driving information and road information etc..
As shown in Figure 10, include three kinds of traveling lanes in motor-driven vehicle going road, be Through Lane LS, right-hand rotation vehicle respectively Road LR and left turn lane LL.When vehicle is travelled to road cross position, the vehicle in Through Lane LS can keep straight on Across crossing, correspondingly, the vehicle in left turn lane LL and the right-turn lane LR can turn left or turn right.If institute Stating vehicle needs the junction ahead in section to turn right, and the target vehicle 100 is in Through Lane LS or a left side at this time Change trains or buses to travel in LL, junction ahead possibly can not normal lane change, particularly, when junction ahead is in congestion status, institute It is difficult in congested link lane change, if lane change may aggravate traffic congestion situation or cause traffic by force to state target vehicle 100 The generation of accident.Therefore it is needed the target vehicle 100 before the target vehicle enters the congested link in advance It is travelled in lane change to the right-turn lane LR.
The guidance information processing module 20A is by the position of the described information acquisition module 10A current vehicles collected The road conditions information etc. that information, driving information, road information and the target vehicle are travelled is transmitted to after treatment Then the vehicle guiding module 30A is judged the jam situation and root in presently described section by the vehicle guiding module 30A The lane change guidance information etc. corresponding to the target vehicle 100 is generated according to the congested conditions of current road segment.
In detail, the guidance information processing module 20A is communicably connected to described information receiving module 10 and institute State vehicle guiding module 30A.The guidance information processing module 20A may be used much information transmission mode and transmit information to The vehicle guiding module 30A, such as by way of wireless network connection or the signal transmission form of other forms.It is excellent Selection of land, the guidance information processing module 20A are the guiding vehicles for being collected into the guidance information acquisition module 10A by TMC Information and road information etc. are transmitted to the target vehicle 100 and/or with reference to the vehicle guiding modules in vehicle 200 30A。
Correspondingly, the guidance information processing module 20A includes an information coding module 21A and information transmission modular 22A, Wherein described information coding module 21A is communicably connected to described information transmission module 22A, by described information coding module Pilot data information after coding is transmitted to described information transmission module 22A by 21A, then by described information transmission module TMC coding informations after coding are transmitted to the vehicle guiding module 30A by 22A again.Described information coding module 21A will be described The driving information for the target vehicle 100 that guidance information acquisition module 10A is collected and the road information of present road are compiled In code to TMC information, correspondingly TMC coding informations are obtained.It is understood that the TMC coding informations both contained it is original The TMC information contain the information that the guidance information acquisition module 10A after coding is collected again, in other words It says, is incorporated into the data information coding that the guidance information acquisition module 10A is collected by described information coding module 21A In the TMC information.
The TMC coding informations that described information transmission module 22A encodes described information coding module 21A are transmitted To the vehicle guiding module 30A, the TMC coding informations are decoded and/or parsed by the vehicle guiding module 30A.It is described Information transmission modular 22A includes multiple signal projector 221A, wherein the signal projector 221A is used to the institute that will be obtained State the vehicle guiding module 30A that TMC coding informations are transmitted in vehicle.Preferably, the vehicle guiding module 30A is received The TMC coding informations of signal projector 221A transmittings nearest apart from the target vehicle described information transmission module 22A.
It is worth one, in the second preferred embodiment of the present invention, it is special that described information transmission module 22A is not needed Information transmission equipment, and only need by original TMC signal generating apparatus to complete the TMC coding informations Transmission, therefore save the expense of vehicle lane change guidance system information transmission to a certain extent.On the other hand, described The coverage area of TMC signal generating apparatus is wider, and signal strength is more preferable, believes so as to preferably guide the vehicle lane change Breath is transmitted to the vehicle guiding module 30A
It is understood that the vehicle lane change guidance system and first in the second preferred embodiment of the invention is preferably The different place of embodiment is that the guidance information acquisition module 10A is collected to obtain by described information transmission module 22A Pilot data information is transmitted to the target vehicle 100 and the vehicle guiding module 30A with reference in vehicle 200.Simply It says, the target vehicle 100 and the vehicle 200 that refers to can receive identical vehicle by the vehicle guiding module 30A Guidance information, road information and traffic information of current driving etc..The target vehicle 100 and the reference vehicle 200 The guiding that can carry out vehicle respectively according to the stroke purpose information of itself respectively operates.
It is understood that the described information transmission module 22A of the guidance information processing module 20A believes the guiding The pilot data information that breath acquisition module 10A is collected is transmitted to the mode of the vehicle guiding module 30A in the present invention the In two preferred embodiments only as an example, not a limit, other information transmission mode can also be used, herein without limitation.
The vehicle guiding module 30A be used to receive the described information for coming from the guidance information processing module 20A The TMC coding informations of transmission module 22A transmission, then obtain phase by the obtained TMC coding informations after decoding The information such as the current road conditions of road information and the road of the target vehicle 100 answered.The vehicle guiding module 30A roots The traffic information obtained according to decoding judges that the section that presently described target vehicle 100 travels whether there is jam situation, with And the jam situation of current road segment.On the other hand, the vehicle guiding module 30A is according to the traveling mesh of the target vehicle 100 Information and the prompt such as the location information target vehicle 100 of the target vehicle 100 travel in correct track.
In addition, the vehicle guiding module 30A receptions come from the guidance information processing module 20A and handle the letter The ginseng in 100 travels of presently described target vehicle 100 and the target vehicle that breath collection module 10A is collected into The information of vehicles and the road information where presently described target vehicle 100 for examining vehicle 200.The vehicle guiding module 30A It is directed to the Vehicle Speed of the target vehicle 100 according to above- mentioned information, the target vehicle can be deduced in positive reason The required vehicle operating range of lane change under condition, and extrapolate the target vehicle 100 when driving to congestion area can lane change Region L3.It is understood that the target vehicle lane change needs in the L3 of lane change region to complete that vehicle could be executed described Lane change operation.
As shown in figure 8, the vehicle guiding module 30A includes an information receiving module 31A, it is communicatively coupled to the letter Cease formation-decoding module a 32A, an automobile navigation module 33A and a lane change reminding module 34A of receiving module 31A.It is described Information receiving module 31A be used to receive the institute of the described information transmission module 22A transmission of the guidance information processing module 20A TMC coding informations are stated, and the TMC coding informations received are transmitted to described information decoder module 32A.Described information solution The TMC coding informations that described information receiving module 31A is received are decoded by code module 32A, extract the TMC codings Road where obtained information of vehicles and the target vehicle 100 that described information acquisition module 10A in information is received The information such as condition.
The vehicle guidance information quilt that the described information decoder module 32A of the vehicle guiding module 30A is parsed It is transmitted to the automobile navigation module 33A, is judged currently according to the decoded information that parsing obtains by the automobile navigation module 33A The jam situation in the section of the target vehicle traveling, and generated accordingly according to the stroke purpose information of the target vehicle 100 The information such as vehicle lane change path.
It is understood that the traveling purpose information of different vehicle of the traveling in same path may be different, then The vehicle guiding module 30A receives leading of obtaining after same data information according to the guidance information processing module 20A Draw result also just to differ.Briefly, in the second preferred embodiment of the present invention, different vehicles travels in identical road Lu Zhong receives identical data information, wherein the data packets include currently by the guidance information processing module 20A The Vehicle Speed information of road, the information of vehicle flowrate etc. in present road.Different vehicles is by the vehicle guided mode Difference is guided in the guiding that block 30A gives the vehicle operator or vehicle for different vehicle traveling purpose information differences.
Correspondingly, the automobile navigation module 33A includes a road section analysis module 331A, and one guides analysis module 332A, An and route guidance module 333A.The section analysis module 331A is parsed according to described information decoder module 32A Decoded information judges the jam situation for the road that presently described target vehicle 100 is travelled, and according to jam situation by the road Section is divided into unobstructed area L1 and congestion regions L2.Correspondingly, the decoding that the guiding analysis module 332A is obtained according to Information judges whether presently described target vehicle 100 travels in correct traveling lane, if the target 100 traveling is just True traveling lane then keeps current lane to travel and recommend to generate corresponding travel speed.If the target vehicle 100 It travels in the track of mistake, then recommend to generate corresponding lane change travel route by the guiding analysis module 332A and recommends to generate Corresponding travel speed etc..The route guidance module 333A is communicatively coupled to the section analysis module 331A and described draws It leads analysis module 332A and reception comes from the section analysis module 331A and guiding analysis module 332A and recommends to generate Lane change guiding etc. information, and prompt operation driver in time traveling in correct traveling lane.
In detail, the section analysis module 331A further comprises that a road judgment module 3311A and a road section are drawn Sub-module 3312A and a road speculate module 3313.The road judgment module 3311A is according to described information decoder module The decoded information that 32A is parsed judges the jam situation for the road that presently described target vehicle 100 is travelled.Art technology Personnel are it is understood that the road judgment module 3311A can be according to 100 current driving road of target vehicle front In section the quantity of the region internal reference vehicle 200 of unit length and/or in the unit interval in road vehicle average traveling speed It spends to judge that front section whether there is jam situation.When single in the present road front section that the target vehicle 100 travels The quantity of bit length region internal reference vehicle 200 be more than certain numerical value and/or in the unit interval in road vehicle average speed When less than certain numerical value, the road judgment module 3311A judges that the section is in congestion status, on the contrary, current road segment In unimpeded state.
Correspondingly, the section division module 3312A will be described according to the judging result of the road judgment module 3311A The current road of target vehicle 100 is divided into clear area L1 and congestion area L2.
As shown in figure 11, the road division module 3312A will according to the judging result of the road judgment module 3311A The different traveling lanes of the current road of the target vehicle 100 are divided into the clear area L1 and the congestion area L2.Institute It states Through Lane LS, the left turn lane LL and the right-turn lane is divided into different congestion regions and clear area respectively Domain.Preferably, the length of the congestion area L2 is identified as the length of longest congestion regions in each track.
As shown in figure 12, the road of the section analysis module 331A speculates that module 3313 is arranged for calculating and works as The time that the preceding target vehicle 100 is needed when being altered to the track correctly travelled by present track, required vehicle become Road operating range.The road of the section analysis module 331A speculates that module 3313 is also used for according to institute in present road The vehicle flowing information for stating the vehicle in travel speed and track with reference to vehicle 200 speculatively calculates the target vehicle 100 in advance Reach the vehicle operating range of the congestion area L2.In other words, described gather around is reached by the target vehicle 100 deduced What this section of section of the vehicle operating range of stifled area L2 was considered as the target vehicle 100 can lane change region L3.
It is understood that the road speculate module 3313 speculate budget it is described can the distance of lane change region L3 need The vehicle lane change operating range current at least more than the target vehicle 100, the target vehicle 100 can be normally in institutes State the lane change that vehicle is completed in clear area L1.In addition, the road of the section analysis module 331A speculates module 3313 also Location information and driving speed information that can be based on presently described target vehicle 100, thus it is speculated that go out the lane change opportunity of vehicle.
It is noted that the section analysis module 331A can also be judged according to the road and division result calculates Obtain the reference vehicle 200 being currently in congestion area L2 quantity and cur-rent congestion region in reference to vehicle vehicle flowrate speed The information such as degree.The section analysis module 331A can also further be calculated described in the current distance of the target vehicle 100 The information such as the distance of congestion area L2.The section analysis module 331A is by these data information transfers being calculated to the road Diameter guiding module 333A, to prompt operation driver to select suitable travel speed by the route guidance module 333A.
Traveling purpose information and presently described target of the guiding analysis module 332A according to the target vehicle 100 The location information of 100 current driving of vehicle judges whether presently described target vehicle 100 travels in correct traveling lane. For example the target vehicle 100 needs to turn left at junction ahead, and the just traveling of the target vehicle at this time is in Through Lane In LS either left turn lane LL, then the traveling of presently described target vehicle 100 is judged in the track of mistake, and by the guiding point Module 332A is analysed to recommend to generate the information such as suitable lane change path of navigation and suitable lane change travel speed.Those skilled in the art It is understood that the recommendation paths that the guiding analysis module 332A according to the present invention is generated only are used as example herein And it is unrestricted.
It is understood that if the track of 100 current driving of the target vehicle meets the shape of the target vehicle 100 At purpose information, then generates and keep traveling in the information of present road and recommend the letters such as the suitable travel speed of target vehicle Breath, the target vehicle not will receive dynamic guiding.
Figure 13 of invention attached drawing shows that mould is analyzed in the guiding when the target vehicle 100 travels in wrong track Block 332A is that the target vehicle 100 recommends the planning path generated.Driver behavior personnel can refer to the guiding and analyze mould Block 332A recommends the planning path generated to be timely altered in correct track, prevents the target vehicle 100 in wrong vehicle Congestion regions are driven in road.It is understood that it is in road that the guiding analysis module 332A, which recommends the planning path generated, The described of road can be within the scope of the L3 of lane change region.
The guiding analysis module 332A includes an a guiding judgment module 3321A and path recommending module 3322A, wherein The guiding judgment module 3321A is used for according to the current traveling-position information of the target vehicle 100 and the target carriage 100 stroke purpose information disk judges whether presently described target vehicle 100 travels in correct track.Correspondingly, institute It is that the target vehicle 100 is recommended to generate corresponding planning path information to state path recommending module 3322A.If the target carriage 100 are exercising in correct track, then are given birth to corresponding to the target vehicle 100 by the guiding judgment module 3321A The decision instruction for keeping straight trip at one；On the contrary, the track of the traveling purpose information and current driving when the target vehicle 100 Information is not inconsistent, then corresponding to the target vehicle 100 by the guiding judgment module 3321A generates lane change instruction.It is described to draw It leads the lane change instruction of judgment module 3321A or the instruction of vehicle straight trip is kept to be transferred to the guiding analysis module 332A The path recommending module 3322A, by the path recommending module 3322A be the target vehicle 100 recommend generate close Suitable lane change guide path.The recommendation paths information that the path recommending module 3322A is generated be used to guide or prompt The target vehicle 100 or vehicle operator travel the vehicle to correct track.
The route guidance module 333A generates the path recommending module 3322A of the guiding analysis module 332A The recommendation paths information and the information such as recommendation travel speed of the target vehicle 100 show driver behavior personnel, or Person prompts driver behavior personnel, so that target vehicle change can be driven to correct track by driver behavior personnel in time.
It is understood that the route guidance module 333A can be provided having a variety of navigation modes, such as by vehicle Recommendation run routing information and advisory speed information etc. be shown in the display screen of vehicle, pass through the shape of voice prompt Formula prompts driver behavior personnel, or prompts the timely lane change of operating personnel to travel by the driving indicating device of car setting.Phase Ying Di, the route guidance module 333A include voice broadcast module 3331A, a display reminding module 3332A, wherein described Voice broadcast module 3331A is set is supplied to driver behavior personnel by vehicle guidance information by the form of voice prompt.Institute It includes in the display screen of vehicle that state display reminding module 3332A, which be by the vehicle guidance information,.
The target vehicle 100 touches during lane change with the vehicle 200 that refers to subsequently travelled in order to prevent It hits, and the target vehicle 100 and the vehicle 200 that refers to preferably is guided to be travelled in respective track, the lane change carries Show that the lane change guidance information of the target vehicle 100 can be transferred to the institute that the target vehicle 100 nearby travels by module 34A It states and refers to vehicle 200.
It is understood that the lane change reminding module 34A lane change information alert being given by the target vehicle 100 The target vehicle 100 nearby travels described with reference to vehicle, especially travels and be located at institute in the same direction with the target vehicle 100 State the reference vehicle 200 of target vehicle 100 behind.The lane change reminding module 34A is sent out to described with reference to vehicle 200 The lane change prompt message can prompt it is described refer to vehicle 200 so that it is described with reference to vehicle 200 have enough reactions when Between, and rational evacuation lane change vehicle.Shown in Figure 14 of refer to the attached drawing, the target vehicle 100 receives in the process of moving to be come From the vehicle guiding module in the lane change guidance information of the guide service module 20, the target vehicle 100 The lane change guidance information for the target vehicle 100 that 30A obtains parsing, then by the vehicle guiding module 30A The lane change reminding module 34A by the lane change information of the target vehicle 100 be transmitted to the target vehicle 100 nearby travel Reference vehicle 200, so that the target vehicle 100 can obtain enough traveling spaces in lane change driving process, and keep away Exempt from the target vehicle 100 to collide with reference to vehicle 200 in lane change process.Preferably, the target vehicle 100 is described Described in vehicle guiding module 30A only subsequently travels the lane change information alert of the target vehicle to the target vehicle 100 With reference to vehicle 200.
The target vehicle 100 refers to vehicle 200 to described in advance before lane change from the lane change reminding module 34A A lane change hint instructions are sent, wherein the lane change hint instructions, which include that prompt is described, refers to 200 presently described target carriage of vehicle 100 apart from the actual range with reference to vehicle 200, the current driving speed of the lane change target vehicle 100, the target The information such as the change path that vehicle 100 generates.When described the lane change reminding module 34A hairs are received with reference to vehicle 200 After the lane change hint instructions sent, according to the lane change information of target vehicle 100 described in the lane change hint instructions and carry The information for showing the evacuation with reference to vehicle 200 is that the reference vehicle generation at least one is kept away by the lane change reminding module 34A Allow information.The evacuation information with reference to vehicle 200 includes the avoidance path with reference to vehicle 200, recommends traveling speed Degree, has avoided prompt message etc..
Figure 14 and Figure 15 of invention attached drawing show the vehicle lane change guidance system of the first preferred embodiment of the invention Vehicle lane change guiding flow and method.The vehicle lane change guidance system is according to the target vehicle 100 and refers to vehicle 200 The speed of current driving and location information judge whether presently described target vehicle 100 travels in correct track, and work as institute State the traveling of target vehicle 100 guides the target vehicle 100 to be altered in time just during road driving at wrong track The track really travelled.
The target vehicle 100 can collect the mesh by described information acquisition module 10A in the process of moving Mark the current location information of vehicle 100, driving speed information, with reference to the information of vehicles of vehicle 200 and the road of present road Information etc..The collected data informations of described information acquisition module 10A are after the processing of the guidance information processing module 20A A TMC coding informations are encoded into, the target vehicle 100 is currently located the vehicle data information of road and the road data Information is transmitted to the automobile navigation module 30A, is encoded according to the TMC received by the automobile navigation module 30A The traveling purpose information of the vehicle navigation information and the target vehicle 100 itself in information provides suitable navigation clothes Business.
The target vehicle can be calculated in lane change when institute by the current driving speed information of the target vehicle 100 The lane change distance needed.By the section analysis module 331A of the automobile navigation module 33A mould is acquired according to described information The information of vehicles and road information with reference to vehicle 200 that block 10 collects judges whether place's present road is in congestion shape State.If be not on congestion status in front of the traveling of presently described target vehicle 100, lane change guidance information is not generated； Correspondingly, when judging that current lane is in congestion status, then by the traveling mesh of the guiding analysis module 332A foundation vehicles Information and the location information of the target vehicle 100 judge whether the target vehicle needs lane change.When the guiding point Analysis module 332A judges that the track that the target vehicle 100 is travelled is correct, then does not guide vehicle lane change；On the contrary, when described The road that target vehicle 100 travels is incorrect, then prompts 100 timely lane change of the target vehicle.
The road analysis module 331A of the automobile navigation module 33A is according to the presently described position with reference to vehicle 200 Confidence ceases and the driving speed information of current reference vehicle marks off the congestion area L2 and the clear area L1 of road, and calculates Go out actual range of the target vehicle of present road apart from the congestion area L2.The road analysis module 331A also foundations The flowing information of the current driving speed information and current reference vehicle 200 with reference to vehicle 100, judges the target carriage 100 can lane change region L3.The automobile navigation module 33A be the target vehicle 100 it is described can be in the L3 of lane change region At least a lane change guided path and lane change prompt message are generated for the target vehicle 100.
The vehicle termination module 30A prompts the vehicle and the target vehicle 100 according to the lane change prompt message Driver behavior personnel vehicle is travelled to correct track in time.It is and the target carriage by the lane change reminding module 34A It is current it is described generate an at least lane change hint instructions with reference to vehicle 200, to prompt described to pay attention to institute in time with reference to vehicle 200 It states 100 lane change of target vehicle and reserves safe lane change distance.One vehicle lane change navigation system of the second preferred embodiment of the invention Vehicle lane change guidance method, include the following steps：
S1, judge that the road at 100 place of a target vehicle whether there is congestion status, if road is in congestion status and incites somebody to action The road is divided into congestion area and clear area.It is understood that if the road where the target vehicle 100 is not present Road need not be then divided into the congestion area and the clear area by congestion status, also need not dynamically guide the target 100 lane change of vehicle.
It is noted that further comprising the steps before step S1：Acquire the vehicle of the target vehicle 100 Driving information, the target vehicle 100 in the road other with reference to vehicle 200 information of vehicles and the target vehicle Road information where 100；By the guidance information processing module 20A by the collected above-mentioned letter of described information acquisition module 10 Breath is encoded into a TMC coding informations；With the transmission TMC coding informations to the vehicle guiding module 30A.
S2, judge whether presently described target vehicle 100 travels in correct track.By the guiding analysis module 332A's Guide judgment module 3321A according to the location information of 100 current driving of the target vehicle and the row of the target vehicle 100 It sails purpose information and judges whether the target vehicle 100 travels in correct traveling lane.
If the target vehicle 100 travels in correct traveling lane, the driving path that vehicle is current is kept, and Recommended to generate suitable travel speed according to the jam situation of road.
S3, speculate 100 lane change of target vehicle can lane change region length, and judge presently described target vehicle Whether 100 meet lane change requirement.If the distance length that 100 lane change of the target vehicle needs be more than it is described can lane change region Length is then unsatisfactory for lane change demand, then cannot be that the target vehicle 100 generates dynamic lane change guide.
S4, recommend to generate the 100 suitable lane change guidance information of target vehicle, and the prompt timely row of target vehicle It sails to correct track.In step s 4, further comprise the steps：It is the target carriage by the guiding analysis module 332A 100 generate an at least lane change guidance information；With the lane change guidance information of the target vehicle 100 generated will be recommended to be transmitted to The vehicle guiding module 30.
It should be understood by those skilled in the art that the embodiment of the present invention shown in foregoing description and attached drawing is only used as illustrating And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.The function and structural principle of the present invention exists It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.

Claims (20)

1. a vehicle lane change guidance system, which is characterized in that including：
One information acquisition module, wherein described information acquisition module are used for collection vehicle data information and road data information；
One guide service module, wherein the guide service module receives the collected data letter of described information acquisition module Breath, information judges the congestion status of present road based on the data, and is entering being pushed forward for congested link for a target vehicle It recommends and generates a lane change guidance information；And
One vehicle guiding module, wherein the vehicle guiding module obtains the lane change guiding that the guide service module generates Information, and data information according to current vehicle guide the target vehicle to travel to correct track.
2. vehicle lane change guidance system according to claim 1, wherein the guiding service module is received including an information Module and a road analysis module, wherein described information receiving module be used to receive what described information acquisition module collected Data information, and by the data information transfer received to the road analysis module, wherein the road analysis module according to The data information that described information receiving module receives judges the jam situation of the road where the target vehicle.
3. vehicle lane change guidance system according to claim 2, wherein the road analysis of the guiding service module Module further comprises a congestion judgment module and a road region division module, wherein the congestion judgment module is according to The data information that information receiving module receives judges that road that the target vehicle is travelled whether there is congested link, and by The road that the target vehicle travels is divided into congestion regions and unobstructed area by the road area division module.
4. vehicle lane change guidance system according to claim 3, wherein the guiding service module further comprises that one draws Analysis module is led, wherein the guiding analysis module is communicatively coupled to described information receiving module and road analysis module, is connect The partition information of the data information and the road analysis module that come from described information receiving module is received, and is the mesh It marks vehicle and generates corresponding lane change guidance information.
5. vehicle lane change guidance system according to claim 4, wherein the guiding analysis module further comprises mutually One guiding judgment module of communication link ground connection and a path recommending module, wherein the guiding judgment module is acquired according to described information The traveling-position information and stroke purpose information of the collected target vehicle of module judge whether the target vehicle travels It is that the target vehicle is recommended to generate at least lane change guiding letter in correct traveling lane, and by the path recommending module Breath.
6. vehicle lane change guidance system according to claim 5, wherein the guiding analysis module further comprises a change Road budget module, wherein the lane change budget module foundation collected data information of described information acquisition module, and it is based on institute State the current driving information of target vehicle deduce the target vehicle can lane change region, and calculate the target vehicle lane change Required lane change distance.
7. vehicle lane change guidance system according to claim 6, wherein the guiding of the guiding analysis module judges Lane change distance of the module needed for the target vehicle lane change and it is described can the length in lane change region judge the target vehicle Whether can normal lane change, and by the path recommending module be the target vehicle can recommend in lane change regional extent described Generate one or more vehicle lane change path.
8. vehicle lane change guidance system according to claim 7, wherein the guiding analysis module is according to the target carriage Position and vehicle travel speed be the target vehicle recommend generate the lane change guidance information include at least one Vehicle lane change routing information, a vehicle lane change recommend travel speed and a vehicle lane change opportunity.
9. vehicle lane change guidance system according to claim 8, wherein the guide service module further comprises a letter Breath coding module and an information transmission modular, described information coding module are communicably connected to described information transmission module and institute Guiding analysis module is stated, wherein described information coding module compiles the lane change guidance information that the guiding analysis module generates Code forms TMC coding informations to a TMC information, and by described information transmission module is transmitted to the TMC coding informations described Vehicle guiding module.
10. vehicle lane change guidance system according to claim 1, wherein described information acquisition module include an information of vehicles Module and a road information module, wherein the information of vehicles module be used to acquire the target vehicle and it is described refer to vehicle Current data information, the road information module be used to acquire the data information that the target vehicle is currently located road.
11. vehicle lane change guidance system according to claim 9, wherein the vehicle guiding module is received including an information Device and a decoder, wherein described information receiver be used to receive the TMC coding letters that the guide service module is sent Breath, is parsed to obtain the corresponding lane change guidance information of the target vehicle by the decoder.
12. vehicle lane change guidance system according to claim 10, wherein the vehicle guiding module further comprises one Automobile navigation module, wherein the automobile navigation module receives the lane change guidance information for coming from the decoder, and according to institute Stating lane change guidance information prompts the lane change of the target vehicle to operate.
13. vehicle lane change guidance system according to claim 12, wherein the vehicle guiding module further comprises one Lane change reminding module, wherein the lane change reminding module by the lane change prompt message of the target vehicle be transmitted to it is described refer to vehicle ?.
14. a vehicle lane change bootstrap technique, which is characterized in that including following methods step：
A. the road where judging a target vehicle whether there is congestion status, if road is in congestion status by the road It is divided into congestion area and clear area；
B. judge whether presently described target vehicle travels in correct track, if the target vehicle travels in correct track, Then it is maintained at current lane traveling；
C. speculate the target vehicle lane change can lane change region, and judge presently described target vehicle can it is described can lane change Vehicle lane change is completed in region；And
D. recommend to generate the suitable lane change guidance information of target vehicle, and the prompt target vehicle is travelled in time to correct Track.
15. the vehicle lane change bootstrap technique described in 14 is wanted according to right, wherein further comprising following step before method and step a Suddenly：Acquire the vehicle traveling information of the target vehicle, the target vehicle in the road other refer to the vehicle of vehicle Road information where information and the target vehicle.
16. the vehicle lane change bootstrap technique described in 14 is wanted according to right, wherein further comprising the steps in step d：
D.1 an at least lane change guidance information is generated by the guiding analysis module of the guide service module；With
D.2 the lane change guidance information of the target vehicle is transferred to the vehicle guiding module.
17. want the vehicle lane change bootstrap technique described in 16 according to right, wherein step d.2 in further comprise the steps：
The lane change guidance information of the target vehicle is encoded to a TMC information, forms a TMC coding informations；With
The TMC coding informations are transferred to the vehicle guiding module.
18. the vehicle lane change bootstrap technique described in 14 is wanted according to right, wherein further comprising the steps in step d：
The vehicle guiding module receives the TMC coding informations for coming from the guide service module；
The decoder of the vehicle guiding module decodes the TMC coding informations, extracts the institute in the TMC coding informations State lane change guidance information；With
Indicate that operation driver travels the target vehicle in correct traveling lane according to the lane change guidance information.
19. the vehicle lane change bootstrap technique described in 14 is wanted according to right, wherein the vehicle lane change guidance method further comprises Following steps e. send a lane change prompt message to nearby travel it is described refer to vehicle, prompt it is described pay attention to reference to vehicle it is described The lane change of target vehicle operates.
20. a vehicle lane change guidance system, which is characterized in that including：
One guidance information acquisition module,；The wherein described guidance information acquisition module is used for collection vehicle data information and road Data information；
One guidance information processing module collects wherein the guidance information processing module receives the guidance information acquisition module Vehicle data information and the road data information, be sent out as lane change data information；
One vehicle guiding module, wherein the vehicle termination module receives the lane change that the guidance information processing module is sent Data information, and judge based on the lane change data information congestion status of present road, and generate at least lane change guiding letter Breath, and prompt a target vehicle to drive to correct track according to the lane change guidance information.
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CN109466551A (en) * 2018-11-22 2019-03-15 深圳市元征科技股份有限公司 A kind of control method for vehicle, system and electronic equipment and storage medium
CN109976334A (en) * 2019-02-25 2019-07-05 广州文远知行科技有限公司 Vehicle lane changing method, device, equipment and storage medium
CN109976334B (en) * 2019-02-25 2022-07-12 广州文远知行科技有限公司 Vehicle lane changing method, device, equipment and storage medium
CN111833593A (en) * 2019-04-18 2020-10-27 北京京东尚科信息技术有限公司 Method and device for controlling vehicle, control method executed by vehicle and vehicle
CN110211073A (en) * 2019-04-19 2019-09-06 北京汽车集团有限公司 Into the guide device and method in tunnel
CN110491140A (en) * 2019-08-08 2019-11-22 横琴善泊投资管理有限公司 A kind of parking lot entrance lane occupies detection and bootstrap technique and system
CN110517514A (en) * 2019-08-23 2019-11-29 深圳成谷科技有限公司 A kind of management-control method of vehicle flowrate, device and equipment
CN110992724A (en) * 2019-11-05 2020-04-10 华为技术有限公司 Vehicle navigation method and terminal
CN112991792A (en) * 2019-12-12 2021-06-18 奥迪股份公司 Lane changing method and device for vehicle, computer equipment and storage medium
CN111145570A (en) * 2019-12-18 2020-05-12 北京小马慧行科技有限公司 Vehicle control method, control device, storage medium, and processor
CN111009148A (en) * 2019-12-18 2020-04-14 斑马网络技术有限公司 Vehicle navigation method, terminal equipment and server
CN113223314A (en) * 2021-03-23 2021-08-06 南京市德赛西威汽车电子有限公司 Vehicle guiding method based on V2X and vehicle-mounted system
CN113566836A (en) * 2021-06-28 2021-10-29 阿波罗智联(北京)科技有限公司 Road guiding method, device, electronic equipment and storage medium
CN114677845A (en) * 2021-10-25 2022-06-28 北京新能源汽车股份有限公司 Vehicle control and road condition monitoring method and device
CN114283580A (en) * 2021-12-23 2022-04-05 韶关学院 Traffic flow guiding method based on big data
CN114283580B (en) * 2021-12-23 2022-12-13 韶关学院 Traffic flow guiding method based on big data

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Application publication date: 20181102