CN108961839A - Driving lane change method and device - Google Patents
Driving lane change method and device Download PDFInfo
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- CN108961839A CN108961839A CN201811032036.2A CN201811032036A CN108961839A CN 108961839 A CN108961839 A CN 108961839A CN 201811032036 A CN201811032036 A CN 201811032036A CN 108961839 A CN108961839 A CN 108961839A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000004590 computer program Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 6
- 230000006399 behavior Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 12
- 230000007613 environmental effect Effects 0.000 abstract description 4
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- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 3
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- 230000006978 adaptation Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The present invention relates to a kind of driving lane change method and devices, belong to technical field of vehicle safety, this method comprises: obtaining lane mark type information and traffic information, the type of the lane line of road where lane mark type information is used to indicate vehicle, traffic information is used to indicate the status information of vehicle side rear object, status information includes position of the object relative to vehicle, and object is at a distance from vehicle, the driving direction of object and the speed of object；When receiving lane change instruction, judge whether vehicle meets safe lane change driving conditions under the present circumstances according to lane mark type information and traffic information；When vehicle meets safe lane change driving conditions under the present circumstances, execute lane change operation, it solves vehicle in the related technology and carries out lane change traveling vulnerable to driver's subjective experience or such environmental effects, the lower problem of vehicle safety, achieve the effect that the safety for improving vehicle driving, is used for vehicle lane change.
Description
Technical field
The present invention relates to technical field of vehicle safety, in particular to a kind of driving lane change method and device.
Background technique
With the rapid development of the automotive industry and continuous improvement of people's living standards, automobile have rapidly entered common family
Front yard, since road vehicle is more and more, so the traffic safety problem of vehicle, than more serious, traffic safety problem is increasingly
It is concerned by people.
In the related technology when vehicle needs lane change when driving, it is often necessary to which driver observes door mirror, then drives
Result determines whether current environment meets safe lane change driving requirements to member according to the observation, if current environment meets safe lane change traveling
When, vehicle carries out lane change traveling according to the instruction of driver.
However aforesaid way vulnerable to driver's subjective experience or such environmental effects (such as by bad weather circumstances shadow
Ring), vehicle safety is lower.
Summary of the invention
The embodiment of the invention provides a kind of driving lane change method and devices, can solve vehicle in the related technology and are become
Road is travelled vulnerable to driver's subjective experience or such environmental effects, the lower problem of vehicle safety.The technical solution
It is as follows:
According to a first aspect of the embodiments of the present invention, a kind of driving lane change method is provided, which comprises
Lane mark type information and traffic information are obtained, road where the lane mark type information is used to indicate vehicle
The type of lane line, the traffic information are used to indicate the status information of the vehicle side rear object, the status information packet
Include position of the object relative to the vehicle, the object at a distance from the vehicle, the driving direction of the object with
And the speed of the object；
When receiving lane change instruction, judge that the vehicle exists according to the lane mark type information and the traffic information
Whether safe lane change driving conditions are met under current environment；
When the vehicle meets the safe lane change driving conditions under the present circumstances, lane change operation is executed.
Optionally, described to judge the vehicle in current environment according to the lane mark type information and the traffic information
Under whether meet safe lane change driving conditions, comprising:
Whether the type for detecting lane line indicated by the lane mark type information is default type；
When the type of the lane line indicated by the lane mark type information is not the default type, according to the road
The velocity estimated of condition information and the vehicle where the vehicle driving to the object when lane vehicle whether with institute
Object is stated to collide；
When the vehicle and the object do not collide, determine that the vehicle meets safe lane change under the present circumstances
Driving conditions.
Optionally, judge that the vehicle is working as front ring according to the lane mark type information and the traffic information described
After whether meeting safe lane change driving conditions under border, the method also includes:
When the vehicle is unsatisfactory for the safe lane change driving conditions under the present circumstances, detect whether to receive steering
Indicate information, the steering instruction information is that turning indicator control generates when being opened；
When receiving the steering instruction information, prompt messages are issued.
Optionally, the acquisition lane mark type information and traffic information, comprising:
The lane mark type information is obtained by camera；
The three dimensional point cloud of the vehicle side rear object is acquired by laser radar, and is based on the three-dimensional point cloud number
According to the determination traffic information.
According to a second aspect of the embodiments of the present invention, a kind of driving lane change device is provided, described device includes:
Module is obtained, for obtaining lane mark type information and traffic information, the lane mark type information is used to indicate
The type of the lane line of road, the traffic information are used to indicate the status information of the vehicle side rear object where vehicle,
The status information includes position of the object relative to the vehicle, and the object is at a distance from the vehicle, the object
The speed of the driving direction of body and the object；
Judgment module, for receive lane change instruction when, according to the lane mark type information and the traffic information
Judge whether the vehicle meets safe lane change driving conditions under the present circumstances；
Execution module, for executing change when the vehicle meets the safe lane change driving conditions under the present circumstances
Road operation.
Optionally, the judgment module, is used for:
Whether the type for detecting lane line indicated by the lane mark type information is default type；
When the type of the lane line indicated by the lane mark type information is not the default type, according to the road
The velocity estimated of condition information and the vehicle where the vehicle driving to the object when lane vehicle whether with institute
Object is stated to collide；
When the vehicle and the object do not collide, determine that the vehicle meets safe lane change under the present circumstances
Driving conditions.
Optionally, described device further include:
Detection module, for detecting when the vehicle is unsatisfactory for the safe lane change driving conditions under the present circumstances
Whether steering instruction information is received, and the steering instruction information is that turning indicator control generates when being opened；
Alarm module, for issuing prompt messages when receiving the steering instruction information.
Optionally, the acquisition module, is used for:
The lane mark type information is obtained by camera；
The three dimensional point cloud of the vehicle side rear object is acquired by laser radar, and is based on the three-dimensional point cloud number
According to the determination traffic information.
According to a third aspect of the embodiments of the present invention, a kind of driving lane change device is provided, comprising: memory, processor and
It is stored in the computer program that can be run on the memory and on the processor, the processor executes the computer
Driving lane change method described in first aspect is realized when program.
According to a fourth aspect of the embodiments of the present invention, a kind of computer readable storage medium is provided, in the storage medium
It is stored with computer program, driving lane change method described in first aspect is realized when the computer program is executed by processor.
According to a fifth aspect of the embodiments of the present invention, a kind of computer program product comprising instruction is provided, when the meter
When calculation machine program product is run on computers, so that computer executes driving lane change method described in first aspect.
Technical solution provided in an embodiment of the present invention is include at least the following beneficial effects:
Lane mark type information and traffic information can be obtained, and when receiving lane change instruction, according to lane mark type
Information and traffic information judge whether vehicle meets safe lane change driving conditions under the present circumstances.When vehicle under the present circumstances
When meeting safe lane change driving conditions, execute lane change operation, compared to the relevant technologies, without driver by observation rearview mirror come
Safe lane change traveling is determined whether, the safety of vehicle driving is improved.
Detailed description of the invention
In order to illustrate more clearly of the embodiment of the present invention, attached drawing needed in embodiment description will be made below
Simply introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, common for this field
For technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is implementation environment schematic diagram involved in driving lane change method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of lane change method of driving a vehicle provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another driving lane change method provided in an embodiment of the present invention；
Fig. 4 is a kind of flow chart for obtaining lane mark type information and traffic information provided in an embodiment of the present invention；
Fig. 5 is provided in an embodiment of the present invention a kind of to judge whether vehicle meets safe lane change traveling item under the present circumstances
The flow chart of part；
Fig. 6 is a kind of structural schematic diagram of lane change device of driving a vehicle provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another driving lane change device provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of another driving lane change device provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Fig. 1 is implementation environment schematic diagram involved in driving lane change method provided in an embodiment of the present invention.The implementation environment
It may include vehicle 01, vehicle 01 travels on road, and 01 side rear of vehicle may exist mobile object and stationary object.Example
, mobile object can be vehicle 02, and stationary object can be railing etc..
In the related technology, when vehicle needs lane change when driving, driver is needed to observe door mirror, this mode vulnerable to
To driver's subjective experience or such environmental effects, vehicle safety lane change not can guarantee, vehicle safety is lower.And at this
In inventive embodiments, vehicle can carry out lane change traveling, vehicle safety according to lane mark type information and traffic information
It is higher.
Fig. 2 is a kind of flow chart of lane change method of driving a vehicle provided in an embodiment of the present invention.The driving lane change method includes:
Step 201 obtains lane mark type information and traffic information, which is used to indicate where vehicle
The type of the lane line of road, the traffic information are used to indicate the status information of vehicle side rear object, which includes
Position of the object relative to vehicle, object is at a distance from vehicle, the driving direction of object and the speed of object.
Object is determined for the left back or right back that object is located at vehicle relative to the position of vehicle, object
Driving direction is determined for whether object travels in the same direction with vehicle, and object can be used at a distance from vehicle with the speed of object
If in determining vehicle progress lane change traveling, lane where vehicle driving to object, whether vehicle collides with object.Its
In, vehicle side rear object can be mobile object, for example can be vehicle, or stationary object, for example can be column
Bar etc..
Step 202, when receive lane change instruction when, judge vehicle current according to lane mark type information and traffic information
Whether safe lane change driving conditions are met under environment.
When driver detects that vehicle front traveling has the lesser vehicle of speed or other barriers, driver passes through
Vehicle generates lane change instruction.When vehicle receives the lane change instruction by driver's triggering, according to lane mark type information and road conditions
Information judges whether vehicle meets safe lane change driving conditions under the present circumstances.
Step 203, when vehicle meets safe lane change driving conditions under the present circumstances, execute lane change operation.
In conclusion driving lane change method provided in an embodiment of the present invention, can obtain lane mark type information and road conditions
Information, and when receiving lane change instruction, judging vehicle under the present circumstances according to lane mark type information and traffic information is
It is no to meet safe lane change driving conditions.When vehicle meets safe lane change driving conditions under the present circumstances, lane change operation is executed,
Compared to the relevant technologies, safe lane change is determined whether by observation rearview mirror without driver and is travelled, vehicle is improved
The safety of traveling.
Fig. 3 is the flow chart of another driving lane change method provided in an embodiment of the present invention.The driving lane change method includes:
Step 301 obtains lane mark type information and traffic information.
The type of the lane line of road where lane mark type information is used to indicate vehicle.Traffic information is used to indicate vehicle
The status information of side rear object, the status information include position of the object relative to vehicle, and object is at a distance from vehicle, object
Driving direction and object speed.
Wherein, object is relative to the position of vehicle for determining that object is located at the left back or right back of vehicle, object
Driving direction for determining whether object travels in the same direction with vehicle, object is at a distance from vehicle and the speed of object is used to determine
If vehicle carries out lane change traveling, lane where vehicle driving to object, whether vehicle collides with object.
Optionally, as shown in figure 4, step 301 may include:
Step 3011 obtains lane mark type information by camera.
The image including lane line is acquired by camera, and lane mark type information is determined based on the image of lane line.
Exemplary, camera can be set on the rearview mirror base of vehicle.
Step 3012, the three dimensional point cloud that vehicle side rear object is acquired by laser radar, and it is based on three-dimensional point cloud
Data determine traffic information.
Three dimensional point cloud is that laser radar emits the data obtained after laser, three-dimensional point cloud number to vehicle side rear object
According to the size, shape and position that can reflect object.Vehicle can determine object relative to vehicle according to the three dimensional point cloud
Position, object is at a distance from vehicle, the information such as speed of the driving direction of object and object.In step 3012, vehicle
It can determine whether left and right vehicle wheel two sides have enough lane change spaces by laser radar.
Exemplary, laser radar can have 4, this 4 laser radars can be separately positioned on the windshield of vehicle, a left side
On B column, right B column and spoiler.
In embodiments of the present invention, lane mark type information is obtained using camera, road conditions letter is obtained using laser radar
Breath may be implemented on a large scale, and remote active lane change technology meets high real-time and round-the-clock requirement, can make vehicle
During adaptive cruise, real-time perception is carried out to road ahead and ambient enviroment.
Step 302, when receive lane change instruction when, judge vehicle current according to lane mark type information and traffic information
Whether safe lane change driving conditions are met under environment.
When driver detects that vehicle front traveling has the lesser vehicle of speed or other barriers, vehicle is received
By the lane change instruction of driver's triggering, judge whether vehicle is full under the present circumstances according to lane mark type information and traffic information
The safe lane change driving conditions of foot.
Optionally, as shown in figure 5, step 302 may include:
Whether the type of lane line indicated by step 3021, detection lane mark type information is default type.
Wherein, default type may include single solid line and double solid line.When the type of lane line is single solid line, vehicle cannot
Carry out lane change traveling.When the type of lane line is double solid line, vehicle can not carry out lane change traveling.And work as the type of lane line
When for dotted line, vehicle can carry out lane change traveling.
When step 3022, the type of the lane line indicated by the lane mark type information are not default type, according to road conditions
Whether vehicle collides the velocity estimated of information and vehicle with object when lane where vehicle driving to object.
For example, vehicle is further according to traffic information and vehicle when the type of lane line is not that single solid line is also not double solid line
If velocity estimated vehicle driving to vehicle side rear object where lane, whether vehicle collide with the object.Example
, vehicle can be obtained by laser, radar, global positioning system (Global Positioning System, GPS) etc.
Speed.
For example, vehicle and right back object travel in the same direction, vehicle is less than pre-determined distance at a distance from the object, and object
Speed is greater than the speed of vehicle, if that lane where vehicle driving to the object, vehicle probably occurs with the object
Collision, in this case, in order to guarantee that vehicle safe driving, vehicle should not carry out lane change traveling.
Step 3023, when vehicle and object do not collide, determine that vehicle meets safe lane change row under the present circumstances
Sail condition.
If lane where vehicle driving to object, vehicle does not collide with object, then can determine that vehicle is being worked as
Meet safe lane change driving conditions under preceding environment, vehicle currently can safe lane change traveling,
Step 303, when vehicle meets safe lane change driving conditions under the present circumstances, execute lane change operation.
When vehicle meets safe lane change driving conditions under the present circumstances, the controller of vehicle can be to multiple execution machines
Structure transmission executes instruction.Executing agency receives when executing instruction of controller transmission, and control vehicle carries out lane change traveling.
Optionally, executing agency may include body electronics systems stabilisation (Electronic Stability Program,
ESP), electric boosting steering system (Electric Power Steering, EPS), engine management system (Engine
Management System, EMS) and automatic gear-box control unit (Transmission Control Unit, TCU).It closes
The relevant technologies can be referred in the working principle of each executing agency, details are not described herein.
Optionally, when vehicle meets safe lane change driving conditions under the present circumstances, vehicle can also open turn signal
Switch activates turn signal and executes lane change operation.
Step 304, when vehicle is unsatisfactory for safe lane change driving conditions under the present circumstances, detect whether to receive steering
Indicate information.Execute step 305.
Turning to instruction information is that turning indicator control generates when being opened.When vehicle is unsatisfactory for becoming safely under the present circumstances
When road driving conditions, for example, the type that the type of lane line is single solid line perhaps lane line is double realizes or lane line
If type is not single solid line and double solid line but obtains vehicle driving to object institute according to the velocity estimated of traffic information and vehicle
In lane, vehicle can collide with object, at this point, driver may still adhere to carrying out lane change, open turning indicator control.When turn
It when being opened to lamp switch, generates and turns to instruction information, vehicle receives steering instruction information, determines driver in unsafe condition
Under be also intended to carry out lane change.
Step 305, when receive turn to instruction information when, issue prompt messages.
When vehicle is unsatisfactory for safe lane change driving conditions under the present circumstances, if driver still adheres to carrying out lane change, that
When receive turn to instruction information when, vehicle can issue prompt messages, so prompt driver be currently not suitable for into
Row lane change traveling, avoids vehicle from colliding with side rear object, improves the safety of vehicle driving.
Exemplary, vehicle can carry out audio alert prompt or light alarm prompt.For example, the voice reporting that vehicle issues
Alert prompt can be with are as follows: there is vehicle in left back, currently unsuitable lane change, it is noted that.
When not receiving steering instruction information, show that driver does not send out then currently without turning indicator control, vehicle is opened
Prompt messages out.
It optionally, in embodiments of the present invention, can also be by display device to the lane mark type information of acquisition, road conditions
Information, vehicle whether meet safe lane change driving conditions as a result, and police instruction information shown so that driver's energy
It is enough to be more intuitive to see various information, facilitate driver preferably to control vehicle, further increases the safety of vehicle driving.
Exemplary, which can be liquid crystal display (Liquid Crystal Display, LCD) high definition touch display.
In conclusion driving lane change method provided in an embodiment of the present invention, can obtain lane mark type information and road conditions
Information, and when receiving lane change instruction, judging vehicle under the present circumstances according to lane mark type information and traffic information is
It is no to meet safe lane change driving conditions.When vehicle meets safe lane change driving conditions under the present circumstances, lane change operation is executed,
At the same time it can also which when vehicle is unsatisfactory for safe lane change driving conditions under the present circumstances, if detection receives steering, instruction is believed
When breath, prompt messages are issued to prompt driver to be currently not suitable for carrying out lane change traveling, compared to the relevant technologies, without driving
The person of sailing is determined whether safe lane change by observation rearview mirror and travelled, and the safety of vehicle driving is improved.
It should be noted that the sequencing of the step of driving lane change method provided in an embodiment of the present invention can be fitted
Work as adjustment, the step of lane change method of driving a vehicle according to circumstances can also accordingly be increased and decreased.Any technology for being familiar with the art
In the technical scope disclosed by the present invention, the method that can readily occur in variation should all cover in protection scope of the present invention personnel
Within, therefore repeat no more.
Fig. 6 shows a kind of structural schematic diagram of lane change device of driving a vehicle provided in an embodiment of the present invention.The device 400 can be with
Include:
Module 410 is obtained, for obtaining lane mark type information and traffic information, which is used to indicate
The type of the lane line of road, the traffic information are used to indicate the status information of vehicle side rear object where vehicle, the state
Information includes position of the object relative to vehicle, and object is at a distance from vehicle, the driving direction of object and the speed of object.
Judgment module 420, for judging vehicle according to lane mark type information and traffic information when receiving lane change instruction
Whether meet safe lane change driving conditions under the present circumstances.
Execution module 430, for when vehicle meets safe lane change driving conditions under the present circumstances, executing lane change behaviour
Make.
In conclusion driving lane change device provided in an embodiment of the present invention, obtain module obtain lane mark type information and
Traffic information, judgment module judge that vehicle is being worked as according to lane mark type information and traffic information when receiving lane change instruction
Whether safe lane change driving conditions are met under preceding environment.Execution module meets safe lane change traveling item in vehicle under the present circumstances
When part, lane change operation is executed, compared to the relevant technologies, determines whether to become safely by observation rearview mirror without driver
Road traveling, improves the safety of vehicle driving.
Optionally, judgment module 420 can be used for:
Whether the type of lane line indicated by detection lane mark type information is default type；
When the type of the lane line indicated by the lane mark type information is not default type, according to traffic information and vehicle
Velocity estimated when vehicle driving to lane where object vehicle whether collide with object；
When vehicle and object do not collide, determine that vehicle meets safe lane change driving conditions under the present circumstances.
Fig. 7 is the structural schematic diagram for another driving lane change device that the embodiment of the present invention provides on the basis of Fig. 6.It should
Device 400 can also include:
Detection module 440, for detecting whether to connect when vehicle is unsatisfactory for safe lane change driving conditions under the present circumstances
Steering instruction information is received, which indicates that information is that turning indicator control generates when being opened.
Alarm module 450, for issuing prompt messages when receiving steering instruction information.
Wherein, obtaining module 410 can be used for:
Lane mark type information is obtained by camera；
The three dimensional point cloud of vehicle side rear object is acquired by laser radar, and road is determined based on three dimensional point cloud
Condition information.
In conclusion driving lane change device provided in an embodiment of the present invention, obtain module obtain lane mark type information and
Traffic information, judgment module judge that vehicle is being worked as according to lane mark type information and traffic information when receiving lane change instruction
Whether safe lane change driving conditions are met under preceding environment.Execution module meets safe lane change traveling item in vehicle under the present circumstances
When part, lane change operation is executed, meanwhile, when vehicle is unsatisfactory for safe lane change driving conditions under the present circumstances, alarm module can
With receive turn to instruction information when, issue prompt messages with prompt driver currently be not suitable for carry out lane change traveling,
Compared to the relevant technologies, safe lane change is determined whether by observation rearview mirror without driver and is travelled, vehicle is improved
The safety of traveling.
Fig. 8 shows the structural schematic diagram of another driving lane change device provided in an embodiment of the present invention.The device 500 packet
Include: memory 510 and is stored in the computer program that can be run on memory 510 and on processor 520 at processor 520
511, processor 520 realizes lane change method of driving a vehicle provided by above-described embodiment when executing computer program.
The embodiment of the invention also provides a kind of computer readable storage medium, the storage medium is non-volatile readable
Storage medium is stored with computer program in the storage medium, and the computer program is realized above-mentioned when being executed by processor
Driving lane change method provided by embodiment.
The embodiment of the invention also provides a kind of computer program products comprising instruction, when the computer program product
When running on computers, so that computer executes lane change method of driving a vehicle provided by above-described embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the device of foregoing description
It with the specific work process of module, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
Those skilled in the art will readily occur to of the invention its after considering specification and the invention invented here of practice
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are wanted by right
It asks and points out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of driving lane change method, which is characterized in that the described method includes:
Lane mark type information and traffic information are obtained, the lane of road where the lane mark type information is used to indicate vehicle
The type of line, the traffic information are used to indicate the status information of the vehicle side rear object, and the status information includes institute
Position of the object relative to the vehicle is stated, the object is at a distance from the vehicle, the driving direction of the object and institute
State the speed of object；
When receiving lane change instruction, judge the vehicle current according to the lane mark type information and the traffic information
Whether safe lane change driving conditions are met under environment；
When the vehicle meets the safe lane change driving conditions under the present circumstances, lane change operation is executed.
2. the method according to claim 1, wherein described according to the lane mark type information and the road conditions
Information judges whether the vehicle meets safe lane change driving conditions under the present circumstances, comprising:
Whether the type for detecting lane line indicated by the lane mark type information is default type；
When the type of the lane line indicated by the lane mark type information is not the default type, believed according to the road conditions
The velocity estimated of breath and the vehicle when the vehicle driving to the object place lane vehicle whether with the object
Body collides；
When the vehicle and the object do not collide, determine that the vehicle meets safe lane change traveling under the present circumstances
Condition.
3. the method according to claim 1, wherein described according to the lane mark type information and the road
After condition information judges whether the vehicle meets safe lane change driving conditions under the present circumstances, the method also includes:
When the vehicle is unsatisfactory for the safe lane change driving conditions under the present circumstances, detect whether to receive steering instruction
Information, the steering instruction information is that turning indicator control generates when being opened；
When receiving the steering instruction information, prompt messages are issued.
4. the method according to claim 1, wherein the acquisition lane mark type information and traffic information, packet
It includes:
The lane mark type information is obtained by camera；
The three dimensional point cloud of the vehicle side rear object is acquired by laser radar, and true based on the three dimensional point cloud
The fixed traffic information.
5. a kind of driving lane change device, which is characterized in that described device includes:
Module is obtained, for obtaining lane mark type information and traffic information, the lane mark type information is used to indicate vehicle
The type of the lane line of place road, the traffic information is used to indicate the status information of the vehicle side rear object, described
Status information includes position of the object relative to the vehicle, the object at a distance from the vehicle, the object
The speed of driving direction and the object；
Judgment module, for being judged according to the lane mark type information and the traffic information when receiving lane change instruction
Whether the vehicle meets safe lane change driving conditions under the present circumstances；
Execution module, for when the vehicle meets the safe lane change driving conditions under the present circumstances, executing lane change behaviour
Make.
6. device according to claim 5, which is characterized in that the judgment module is used for:
Whether the type for detecting lane line indicated by the lane mark type information is default type；
When the type of the lane line indicated by the lane mark type information is not the default type, believed according to the road conditions
The velocity estimated of breath and the vehicle when the vehicle driving to the object place lane vehicle whether with the object
Body collides；
When the vehicle and the object do not collide, determine that the vehicle meets safe lane change traveling under the present circumstances
Condition.
7. device according to claim 5, which is characterized in that described device further include:
Detection module, for detecting whether when the vehicle is unsatisfactory for the safe lane change driving conditions under the present circumstances
Steering instruction information is received, the steering instruction information is that turning indicator control generates when being opened；
Alarm module, for issuing prompt messages when receiving the steering instruction information.
8. device according to claim 5, which is characterized in that the acquisition module is used for:
The lane mark type information is obtained by camera；
The three dimensional point cloud of the vehicle side rear object is acquired by laser radar, and true based on the three dimensional point cloud
The fixed traffic information.
9. a kind of driving lane change device characterized by comprising memory and is stored on the memory and can processor
The computer program run on the processor, the processor realize Claims 1-4 when executing the computer program
Any driving lane change method.
10. a kind of computer readable storage medium, which is characterized in that computer program is stored in the storage medium, it is described
Claims 1-4 any driving lane change method is realized when computer program is executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811032036.2A CN108961839A (en) | 2018-09-05 | 2018-09-05 | Driving lane change method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811032036.2A CN108961839A (en) | 2018-09-05 | 2018-09-05 | Driving lane change method and device |
Publications (1)
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| CN109849909A (en) * | 2019-03-21 | 2019-06-07 | 深圳鸿鹏新能源科技有限公司 | Vehicle and its control method and device |
| CN110103969A (en) * | 2019-05-16 | 2019-08-09 | 广州小鹏汽车科技有限公司 | A kind of control method for vehicle, device, system and vehicle |
| CN110834646A (en) * | 2019-11-27 | 2020-02-25 | 安徽江淮汽车集团股份有限公司 | Lane change auxiliary early warning method, device, equipment and storage medium |
| CN112668428A (en) * | 2020-12-21 | 2021-04-16 | 北京百度网讯科技有限公司 | Vehicle lane change detection method, roadside device, cloud control platform and program product |
| CN112758107A (en) * | 2021-02-07 | 2021-05-07 | 的卢技术有限公司 | Automatic lane changing method for vehicle, control device, electronic equipment and automobile |
| CN113715736A (en) * | 2021-10-12 | 2021-11-30 | 上海寅家电子科技股份有限公司 | Vehicle lane change early warning method, device and system, automobile and storage medium |
| WO2021253245A1 (en) * | 2020-06-16 | 2021-12-23 | 华为技术有限公司 | Method and device for identifying vehicle lane changing tendency |
| CN113954836A (en) * | 2020-07-20 | 2022-01-21 | 广州汽车集团股份有限公司 | Segmented navigation lane changing method and system, computer equipment and storage medium |
| US11409288B2 (en) | 2019-03-28 | 2022-08-09 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Lane changing method, device for driverless vehicle and computer-readable storage medium |
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| CN113954836A (en) * | 2020-07-20 | 2022-01-21 | 广州汽车集团股份有限公司 | Segmented navigation lane changing method and system, computer equipment and storage medium |
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Application publication date: 20181207 |