CN110136484A - A kind of vehicle lane change method, drive test unit and storage medium - Google Patents
A kind of vehicle lane change method, drive test unit and storage medium Download PDFInfo
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- CN110136484A CN110136484A CN201910523615.5A CN201910523615A CN110136484A CN 110136484 A CN110136484 A CN 110136484A CN 201910523615 A CN201910523615 A CN 201910523615A CN 110136484 A CN110136484 A CN 110136484A
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The embodiment of the invention discloses a kind of vehicle lane change method, drive test unit and storage mediums, this method comprises: receiving the lane change request that the first vehicle is sent；According to target lane information, the information of vehicles on target lane is determined；According to target lane information and the information of vehicles in target lane, travel speed of first vehicle on target lane is determined；According to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle was imported to the remittance time in target lane；Lane change is sent to the first vehicle to execute instruction.By this kind of mode, the first vehicle safety is facilitated to import target lane, and can be driven safely with the travel speed allowed on target lane.
Description
Technical field
The present embodiments relate to vehicle networking technical fields, and in particular to a kind of vehicle lane change method, drive test unit and deposits
Storage media.
Background technique
With the continuous improvement of people's living standards, vehicle becomes the first choice of most people as the vehicles.Vehicle
Convenient and quick feature is the reason of people's first choice.
But on highway vehicle increase, also result in taking place frequently for traffic accident.Lane change is most held in road driving
The scene of traffic accident is easily induced, if lane change is not reasonable, such as the lane change time is improper, it is easy to cause currently to need to become
The vehicle in road collides with the vehicle that back row approaches.Especially when the magnitude of traffic flow is larger, vehicle lane change is easier to occur
Traffic accident.
So, how can guarantee that vehicle when driving, may be implemented safe lane change and wanted as the application on highway
The technical issues of solution.
Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of vehicle lane change method, drive test unit and storage medium, to solve existing skill
In art vehicle on highway when driving, how to guarantee the technical problem of lane change safety.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
According to a first aspect of the embodiments of the present invention, a kind of vehicle lane change method is provided, this method is held by roadside unit
Row, comprising:
Receive the lane change request of the first vehicle transmission, include the corresponding parameter information of the first vehicle in lane change request with
And target lane request；
According to the target lane information, the information of vehicles on the target lane is determined；
According to the target lane information and the information of vehicles in the target lane, determine first vehicle described
Travel speed on target lane；
According to the information of vehicles on the corresponding parameter information of first vehicle and the target lane, determine described in
First vehicle was imported to the remittance time in the target lane；
To first vehicle send lane change execute instruction, the lane change execute instruction in include first vehicle import
Remittance time and the travel speed on target lane when to the target lane.
Further, the corresponding parameter information of first vehicle includes:
Identification information corresponding with first vehicle, vehicle model information, current location information, the first driving speed information with
And Vehicle length information.
Further, the vehicle according on the corresponding parameter information of first vehicle and the target lane
Information determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
When determining on the target lane there is an at least vehicle when driving, believed according to first current vehicle position
Breath determines that first vehicle imports the remittance point position in target lane；
It obtains i-th of vehicle that target lane uplink is sailed and reaches i-th time for importing point position；
According to the first current vehicle position information, the first driving speed information, determine that first vehicle reaches institute
State the first time for importing point position；
When determine the absolute difference between i-th time and the first time be less than or equal to preset time threshold
When, i-th of vehicle of Xiang Suoshu sends cooperation lane change and indicates information；
It is true according to the first time and the i-th time after the cooperation lane change for receiving i-th of vehicle feedback responds
The fixed remittance time, wherein i is and to be less than or equal to all vehicles that target lane uplink is sailed more than or equal to 1
Total numerical value.
Further, i-th for obtaining i-th of vehicle that target lane uplink is sailed and reaching remittance point position
Time specifically includes:
Obtain i-th of vehicle that target lane uplink is sailed the i-th location information and i-th of vehicle the i-th row
Sail velocity information；
According to i-th location information, the position for importing point, i-th driving speed information, described i-th is determined
A vehicle reaches i-th time for importing point position.
Further, the cooperation lane change indicates information, comprising: the corresponding parameter information of first vehicle, with toilet
It states the i-th vehicle and information is indicated according to the cooperation lane change, when being determined as first vehicle and carrying out cooperation lane change, according to described the
The corresponding parameter information of one vehicle takes cooperation lane change operation.
Further, lane change execute instruction in further include i-th of vehicle identification information.
Further, the vehicle according on the corresponding parameter information of first vehicle and the target lane
Information determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
According to the first current vehicle position information, determine that first vehicle imports the remittance point in target lane
It sets；
When up to first vehicle driving to the remittance point position, traveling is still not present in the target lane
When vehicle, directly to first vehicle send lane change execute instruction, the lane change execute instruction in include the remittance time
And the travel speed on target lane.
According to a second aspect of the embodiments of the present invention, a kind of vehicle lane change method is provided, this method is by first aspect institute
The i-th vehicle in a kind of vehicle lane change method stated executes, this method comprises:
It receives the cooperation lane change that roadside unit is sent and indicates information, wherein the cooperation lane change indicates in information to include: the
The corresponding parameter information of the first vehicle that one vehicle is sent to the roadside unit；
Information is indicated according to the cooperation lane change, generates lane change response, and feed back to the roadside unit；
And when being determined as first vehicle and carrying out cooperation lane change, believed according to the corresponding parameter of first vehicle
Breath takes collaboration lane change operation.
According to a third aspect of the embodiments of the present invention, provide a kind of roadside unit, the roadside unit include: processor and
Memory；
Memory is for storing one or more program instructions；
Processor, for running one or more program instructions, to execute appointing in a kind of as above vehicle lane change method
One method and step.
According to a fourth aspect of the embodiments of the present invention, a kind of computer storage medium is provided, the computer storage medium
In comprising one or more program instructions, one or more program instructions are used to be executed a kind of as above vehicle by a kind of roadside unit
Method step either in lane change method.
The embodiment of the present invention has the advantages that when the first vehicle wishes to execute lane change operation, passes through vehicle-mounted list first
Member is established with roadside unit and is communicated to connect, and sends lane change request to roadside unit, includes that the first vehicle is corresponding in lane change request
Parameter information and target lane information.Roadside unit determines the information of vehicles on target lane according to target lane information；
According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Finally, according to first
Information of vehicles on the corresponding parameter information of vehicle and target lane, when determining that the first vehicle imports the remittance in target lane
Between.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle safety to import target
Lane avoids and other automobile crash, guarantee driving safety.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is a kind of vehicle lane change application scenarios schematic diagram provided by the invention；
Fig. 2 is another vehicle lane change application scenarios schematic diagram provided by the invention；
Fig. 3 is a kind of vehicle lane change method flow schematic diagram that the embodiment of the present invention 1 provides；
Fig. 4 is another vehicle lane change method flow schematic diagram that the embodiment of the present invention 2 provides；
Fig. 5 is a kind of vehicle lane change apparatus structure schematic diagram that the embodiment of the present invention 3 provides；
Fig. 6 is another vehicle lane change apparatus structure schematic diagram that the embodiment of the present invention 4 provides；
Fig. 7 is a kind of roadside unit structural schematic diagram that the embodiment of the present invention 5 provides；
Fig. 8 is a kind of car-mounted terminal structural schematic diagram that the embodiment of the present invention 6 provides.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The embodiment of the present invention 1 provides a kind of vehicle lane change method, and this method corresponds to a kind of vehicle lane change system.This is
System includes at least the first vehicle and roadside unit.Roadside unit is the roadside unit that communication connection is established with the first vehicle.Lane change
Application scenarios include at least two kinds, the first is travelled for the first vehicle in ring road, i.e., main road will be driven into, referring specifically to shown in Fig. 1.
Second is the first vehicle in main road traveling, i.e., adjacent lane will be driven into, referring specifically to the vehicle A shown in Fig. 2, in Fig. 1 and Fig. 2
As the first vehicle.
For both the above application scenarios, a kind of vehicle lane change method provided in an embodiment of the present invention.This method is by trackside
Unit executes.It should be noted that, although the present embodiment only lists both the above application scenarios, but it is not limited only to
Both the above application scenarios can also include other application scenarios.And the principle of lane changing is same or similar, here only with one
Be illustrated for kind of application scenarios, such as with the first vehicle ring road traveling, i.e., by for the application scenarios for driving into main road to vehicle
Lane change method is illustrated, and other application scenarios are then identical as the execution method of the scene, or simply do adaptability
Adjustment, does not do excessive explanation here.
Specifically as shown in figure 3, this method is since the roadside unit that the first vehicle establishes communication connection executes, specific steps are such as
Under:
Step 310, the lane change request that the first vehicle is sent is received.
First vehicle sends lane change request.Can be by the first on board unit in the first vehicle send lane change request to
Roadside unit.It wherein, at least may include the corresponding parameter information of the first vehicle and target lane information in lane change request.
In a specific embodiment, the corresponding parameter information of the first vehicle includes but is not limited to: corresponding with the first vehicle
Identification information, vehicle model information, current location information, the first driving speed information, Vehicle length information.
Step 320, according to target lane information, the information of vehicles on target lane is determined.
Specifically, roadside unit can according to target lane information, to determine target lane that the first vehicle will import,
Then the information of vehicles in target lane is first determined.For example, not having to have in vehicle driving or target lane in target lane
Many vehicle drivings, there are the situations of traffic congestion.Or only have a small amount of vehicle driving etc. different feelings in target lane
Shape.
Step 330, according to target lane information and the information of vehicles in target lane, determine the first vehicle in target lane
On travel speed.
Travel speed on target lane is mainly determined according to the information of vehicles in target lane.It is referred herein in target
Travel speed on lane can be the maximum travelling speed of target lane restriction, be also possible to sail vehicle according to target lane uplink
Travel speed it is comprehensive determining.
For example, if on current goal lane there is no occur traffic congestion situation, all vehicles can with normally travel, then,
Its travel speed cannot be more than the maximum travelling speed in target lane.If current traffic congestion, travel speed can be set to mesh
Mark the average overall travel speed etc. of current vehicle on lane.It specifically may be set according to actual conditions, do not do excessive explanation here.
Step 340, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, first is determined
Vehicle was imported to the remittance time in target lane.
Specifically, according to step 320 it is found that the information of vehicles in target lane there are a variety of situations.But by its according to
Ultimate attainment division, actually include is exactly two kinds of situations, and one kind is the presence of an at least vehicle traveling on target lane；Another kind is
Target does not have vehicle driving on lane.And mentioned here is not to be at every moment all without vehicle driving, but until first
When vehicle driving to target lane corresponding imports point position, the case where still there is no the vehicles of traveling on target lane.
Optionally, it is based on the first situation, according to the vehicle on the corresponding parameter information of the first vehicle and target lane
Information determines that the first vehicle was imported to the remittance time in target lane, specifically includes:
Step a determines that the first vehicle imports the remittance point position in target lane according to the first current vehicle position information.
Specifically, if target lane not only includes the remittance point position that can drive into A-road.So, it just needs
Location information that will be current according to the first vehicle, to determine that the first vehicle imports the remittance point position in target lane, it is preferred that can
To be that the first vehicle is allowed to drive into target lane, and the remittance point position that the first current vehicle position of distance is nearest.
Step b obtains i-th of vehicle (such as vehicle B or Fig. 1 or figure in Fig. 1 or Fig. 2 that target lane uplink is sailed
Other vehicles in 2) reach the i-th time for importing point position.
Optionally, the i-th location information that uplink i-th of vehicle sailing in target lane be currently located, i-th vehicle are obtained
Driving speed information.After these information establish communication connection by i-th of vehicle and roadside unit, it is uploaded to roadside unit.
Further according to according to the i-th location information, the position for importing point, the i-th driving speed information, determine that i-th of vehicle reaches
Import the i-th time of point position.It imports point position and i-th bit the distance between is set, the ratio between the i-th driving speed information
Value, was exactly the i-th time.
Step c determines that the first vehicle reaches and imports according to the first current vehicle position information, the first driving speed information
The first time of point position.
The mode for obtaining first time is similar with the mode of the i-th time is obtained, and does not do excessive explanation here.
Step d, when determine the absolute difference between the i-th time and first time be less than or equal to preset time threshold
When, cooperation lane change, which is sent, to i-th of vehicle indicates information.
Specifically, if the i-th vehicle distances remittance point is also far, after the completion of the first vehicle lane change, the i-th vehicle
All there are no this position is driven to, then just It is not necessary to inform that the i-th vehicle needs to coordinate lane change.Alternatively, if the i-th vehicle
It is close that distance imports point, when the first vehicle reaches and imports point position, remittance point has already been crossed, also It is not necessary to inform the
I vehicle coordinates lane change.And if the i-th vehicle the first vehicle reach import point when, just import point near, then just need into
Row coordinates the first vehicle lane change.The i-th vehicle is detected when the first vehicle reaches remittance point position, if importing near point
Best way exactly determines whether the absolute difference between the i-th time and first time is less than or equal to preset time threshold
(such as 5s).If it is less than or be equal to preset time threshold, then according to the travel speed of the i-th vehicle, be known that naturally
Whether importing near point.
If just needing to send cooperation lane change instruction information to the i-th vehicle importing near point.
Optionally, it can include but is not limited to the corresponding parameter information of the first vehicle in cooperation lane change instruction information.So as to
When the i-th vehicle indicates information according to the cooperation lane change, is determined as first vehicle and carries out cooperation lane change, according to described the
The corresponding parameter information of one vehicle takes cooperation lane change operation, such as the i-th vehicle can be when importing near point, and appropriate adjustment is certainly
The operation such as the position of body or pre-decelerating concedes road and the first vehicle is allowed to complete lane change, to avoid and the first automobile crash
The case where.
It is further alternative, after the i-th vehicle makes appropriate adjustment according to cooperation lane change instruction information, trackside can be given
Unit sends cooperation lane change response.So, roadside unit is also used to execute step e, when the cooperation for receiving i-th of vehicle feedback
After lane change response, the time is imported according to determining at the first time with the i-th time.
Preferably, importing the time is exactly at the first time.Because this moment, the i-th vehicle has clearly known this moment first
Vehicle can reach remittance point, will avoid automatically, therefore before making automatic evacuation, just issue lane change to roadside unit
Response.So the i-th vehicle can imported at the first time.
It is of course also possible to be setting at the first time plus preset time, this is primary concern is that if the i-th vehicle is first
Time has just crossed remittance point, at this time if the first vehicle drives into target lane into from remittance point, it is understood that there may be send out with the i-th vehicle
The risk of raw collision, therefore slightly after a period of time, then target lane can be imported into.Certainly, such case is also contemplated that
To will not be clashed with posterior vehicle.It is specific to import the time, it may be set according to actual conditions, not do excessive theory here
It is bright.Wherein, i is and to be less than or equal to the numerical value of all vehicle fleets that target lane uplink is sailed more than or equal to 1.Its
In, cooperation lane change indicates information, including but not limited to: the corresponding parameter information of the first vehicle.
Second situation is believed according to the vehicle on the corresponding parameter information of first vehicle and the target lane
Breath, determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
According to the first current vehicle position information, determine that first vehicle imports the remittance point in target lane
It sets；
When up to first vehicle driving to the remittance point position, traveling is still not present in the target lane
When vehicle, directly to first vehicle send lane change execute instruction, the lane change execute instruction in include the remittance time
And the travel speed on target lane.
Step 350, lane change is sent to the first vehicle to execute instruction.
Wherein, lane change execute instruction in include remittance time when the first vehicle is imported to target lane and in target carriage
Travel speed on road.
Specifically, after determining the remittance time of the first vehicle, so that it may send lane change to the first vehicle and instruct, become
Road may include importing time and the travel speed on target lane in executing instruction.
It is further alternative, lane change execute instruction in can also include i-th of vehicle identification information.For the first vehicle
V2X communication connection can be directly established with the i-th vehicle according to the identification information of the i-th vehicle, direct communication is completed to coordinate lane change.
Wherein, the identification information of the first vehicle and the i-th vehicle identification information all can be vehicle ID informations.
In another scene, the process that step 340 executes is specifically included: being believed according to first current vehicle position
Breath determines that first vehicle imports the remittance point position in target lane；
When until the first vehicle driving to when importing point position, when the vehicle of traveling is still not present in target lane, then road
Side unit then directly sends lane change to the first vehicle and executes instruction, lane change execute instruction in include importing time and in target carriage
Travel speed on road.Importing the time is at the first time that the travel speed on target lane is the maximum in target lane
Restricted driving speed.
A kind of vehicle lane change method provided in an embodiment of the present invention, when the first vehicle wishes to execute lane change operation, first
It is established and is communicated to connect by board unit and roadside unit, and send lane change request to roadside unit, include the in lane change request
The corresponding parameter information of one vehicle and target lane information.Roadside unit determines on target lane according to target lane information
Information of vehicles；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Most
Eventually, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target carriage
The remittance time in road.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle to pacify
It is complete to import target lane, it avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 1, the embodiment of the invention also provides a kind of lane methods, and this method is by upper
State the execution of the i-th vehicle described in embodiment, it is specific as shown in figure 4, this method comprises:
Step 410, it receives the cooperation lane change that roadside unit is sent and indicates information.
It include: wherein the corresponding parameter information of the first vehicle in the cooperation lane change instruction information.
Step 420, information is indicated according to the cooperation lane change, generates lane change response, and feed back to the roadside unit.
Step 430, when being determined as first vehicle and carrying out cooperation lane change, according to the corresponding parameter of first vehicle
Information takes collaboration lane change operation.
By a upper embodiment it is found that the i-th vehicle is only after receiving the cooperation lane change instruction of roadside unit transmission, just meeting
Information is indicated according to cooperation lane change, generates lane change response.It generates lane change and responds and feed back to roadside unit, be in order to facilitate trackside
Unit determines whether the i-th vehicle executes collaboration lane change operation.And result determines that the first vehicle imports target lane according to response
Import the time.The collaboration lane change operation that i-th vehicle is taken can include but is not limited to mode listed below: for example actively keep away
It allows, speed slows down equal measures.The measure specifically taken has been done in a upper embodiment for example, not being excessive Jie here
It continues.
The embodiment of the present invention provides a kind of vehicle lane change method, and the cooperation lane change that the i-th vehicle is sent according to roadside unit refers to
Show information, generate and cooperate with lane change operation accordingly, facilitates the first vehicle safety, efficiently by importing a remittance target carriage road
Simultaneously, additionally it is possible to guarantee road middle rolling car safety.
Corresponding with above-described embodiment 1, the embodiment of the present invention 3 additionally provides a kind of vehicle lane change device, specifically such as Fig. 5 institute
Show, which includes: receiving unit 501, processing unit 502 and transmission unit 503.
Receiving unit 501, the lane change for receiving the transmission of the first vehicle are requested, and include and the first vehicle pair in lane change request
The parameter information and target lane information answered；
Processing unit 502, for determining the information of vehicles on target lane according to target lane information；According to target carriage
The information of vehicles in road information and target lane determines travel speed of first vehicle on target lane；According to described first
Information of vehicles on the corresponding parameter information of vehicle and the target lane determines that first vehicle is imported to the mesh
Mark the remittance time in lane；
Transmission unit 503, for the first vehicle send lane change execute instruction, lane change execute instruction in include the first vehicle
Remittance time when remittance to target lane and the travel speed on target lane.
Optionally, device further include: acquiring unit 504；
Processing unit 502 is specifically used for, when determining on target lane there is an at least vehicle when driving, according to the first vehicle
Current location information determines that the first vehicle imports the remittance point position in target lane；
Acquiring unit 504 reaches the i-th time of remittance point position for obtaining i-th of vehicle that target lane uplink is sailed；
Processing unit 502 is also used to, and according to the first current vehicle position information, the first driving speed information, determines first
Vehicle reaches the first time for importing point position；
Transmission unit 503 is specifically used for, when determining that the absolute difference between the i-th time and first time is less than or equal to
When preset time threshold, cooperation lane change is sent to i-th of vehicle and indicates information；
Receiving unit 501 is also used to, and receives the cooperation lane change response of i-th of vehicle feedback；
Processing unit 502 is also used to, according at the first time and the i-th time determine import the time, wherein i be greater than or
Equal to 1, and it is less than or equal to the numerical value for all vehicle fleets that target lane uplink is sailed.
Optionally, acquiring unit 504 are specifically used for: obtain i-th of vehicle sailing of target lane uplink i-th bit set
I-th driving speed information of information and i-th of vehicle, according to the i-th location information, the position for importing point, the i-th travel speed
Information determines that i-th of vehicle reaches the i-th time for importing point position.
Optionally, cooperation lane change indicates information, comprising: the corresponding parameter information of the first vehicle.
Optionally, lane change execute instruction in further include i-th of vehicle identification information.
Optionally, processing unit 502 is specifically used for, and according to the first current vehicle position information, determines described first
The remittance point position in vehicle remittance target lane；
When until the first vehicle driving when the vehicle of traveling is still not present in target lane, is sent to when importing point position
Unit 503 is also used to, directly to the first vehicle send lane change execute instruction, lane change execute instruction in include import the time and
Travel speed on target lane.
Function performed by each component is in above-mentioned implementation in a kind of vehicle lane change device provided in an embodiment of the present invention
It is discussed in detail in example 1, therefore does not do excessively repeat here.
A kind of vehicle lane change device provided in an embodiment of the present invention, when the first vehicle wishes to execute lane change operation, first
It is established and is communicated to connect by board unit and roadside unit, and send lane change request to roadside unit, include the in lane change request
The corresponding parameter information of one vehicle and target lane information.Roadside unit determines on target lane according to target lane information
Information of vehicles；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Most
Eventually, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target carriage
The remittance time in road.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle to pacify
It is complete to import target lane, it avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 2, the embodiment of the present invention 4 additionally provides a kind of vehicle lane change device, specifically such as Fig. 6 institute
Show, which includes: receiving unit 601, processing unit 502 and transmission unit 503.
Receiving unit 601, the cooperation lane change for receiving roadside unit transmission indicate information.
It include: wherein the corresponding parameter information of the first vehicle in the cooperation lane change instruction information.
Processing unit 602 generates lane change response for indicating information according to cooperation lane change, and when being determined as described the
When one vehicle carries out cooperation lane change, according to the corresponding parameter information of first vehicle, collaboration lane change operation is taken.
Transmission unit 603, for lane change response to be fed back to the roadside unit.
Function performed by each component is in above-mentioned implementation in a kind of vehicle lane change device provided in an embodiment of the present invention
It is discussed in detail in example 2, therefore does not do excessively repeat here.
A kind of vehicle lane change device provided in an embodiment of the present invention indicates letter according to the cooperation lane change that roadside unit is sent
Breath generates and cooperates with lane change operation accordingly, facilitates the first vehicle safety, efficiently by importing the same of a remittance target carriage road
When, additionally it is possible to guarantee road middle rolling car safety.
Corresponding with above-described embodiment 1 or 3, the embodiment of the present invention 5 additionally provides a kind of roadside unit, specific such as Fig. 7
Shown, which includes: processor 701 and memory 702；
Memory 702 is for storing one or more program instructions；
Processor 701, for running one or more program instructions, one kind for being introduced to execute embodiment 1 as above
Method step either in vehicle lane change method.
A kind of roadside unit provided in an embodiment of the present invention passes through first when the first vehicle wishes to execute lane change operation
On board unit and roadside unit, which are established, to be communicated to connect, and sends lane change request to roadside unit, includes the first vehicle in lane change request
Corresponding parameter information and target lane information.Roadside unit determines the vehicle on target lane according to target lane information
Information；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Finally,
According to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target lane
Import the time.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle safety to converge
Enter target lane, avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 2 or 4, the embodiment of the present invention 6 additionally provides a kind of car-mounted terminal, the car-mounted terminal
It is installed on the i-th vehicle, specifically as shown in figure 8, the car-mounted terminal includes: processor 801 and memory 802；
Memory 802 is for storing one or more program instructions；
Processor 801, for running one or more program instructions, one kind for being introduced to execute embodiment 2 as above
Method step either in vehicle lane change method.
Corresponding with above-described embodiment, the embodiment of the invention also provides a kind of computer storage medium, the computers
Include one or more program instructions in storage medium.Wherein, one or more program instructions by a kind of roadside unit for being held
A kind of vehicle lane change method that row embodiment 1 as above is introduced.
Corresponding with above-described embodiment, the embodiment of the invention also provides a kind of computer storage medium, the computers
Include one or more program instructions in storage medium.Wherein, one or more program instructions by a kind of roadside unit for being held
A kind of vehicle lane change method that row embodiment 2 as above is introduced.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of vehicle lane change method, which is characterized in that the method is executed by roadside unit, which comprises
The lane change request of the first vehicle transmission is received, includes the corresponding parameter information of the first vehicle and mesh in the lane change request
Mark lane request；
According to the target lane information, the information of vehicles on target lane is determined；
According to the target lane information and the information of vehicles in the target lane, determine first vehicle in the target
Travel speed on lane；
According to the information of vehicles on the corresponding parameter information of first vehicle and the target lane, described first is determined
Vehicle was imported to the remittance time in the target lane；
To first vehicle send lane change execute instruction, the lane change execute instruction in include first vehicle import to institute
Remittance time when stating target lane and the travel speed on target lane.
2. the method according to claim 1, wherein the corresponding parameter information of first vehicle includes:
Identification information corresponding with first vehicle, vehicle model information, current location information, the first driving speed information and vehicle
Length information.
3. according to the method described in claim 2, it is characterized in that, described according to the corresponding parameter information of first vehicle,
And the information of vehicles on the target lane, determine that first vehicle is imported to the remittance time in the target lane, tool
Body includes:
When determining on the target lane there is an at least vehicle when driving, according to the first current vehicle position information, really
Fixed first vehicle imports the remittance point position in target lane；
It obtains i-th of vehicle that target lane uplink is sailed and reaches i-th time for importing point position；
According to the first current vehicle position information, the first driving speed information, determine that first vehicle reaches the remittance
The first time of access point position；
When determining that the absolute difference between i-th time and the first time is less than or equal to preset time threshold,
Cooperation lane change, which is sent, to i-th of vehicle indicates information；
After the cooperation lane change for receiving i-th of vehicle feedback responds, institute is determined according to the first time and the i-th time
It states and imports the time, wherein i is more than or equal to 1, and it is total to be less than or equal to all vehicles for sailing of target lane uplink
Several numerical value.
4. according to the method described in claim 3, it is characterized in that, i-th of the vehicle for obtaining target lane uplink and sailing
Reach it is described import point position the i-th time, specifically include:
Obtain i-th of vehicle that target lane uplink is sailed the i-th location information and i-th of vehicle the i-th traveling speed
Spend information；
According to i-th location information, the position for importing point, i-th driving speed information, i-th of vehicle is determined
Reach it is described import point position the i-th time.
5. the method according to claim 3 or 4, which is characterized in that the cooperation lane change indicates information, comprising: described the
The corresponding parameter information of one vehicle is determined as first vehicle so that i-th vehicle indicates information according to the cooperation lane change
When carrying out cooperation lane change, cooperation lane change operation is taken according to the corresponding parameter information of first vehicle.
6. the method according to claim 3 or 4, which is characterized in that the lane change execute instruction in further include described i-th
The identification information of vehicle.
7. according to the method described in claim 2, it is characterized in that, described according to the corresponding parameter information of first vehicle,
And the information of vehicles on the target lane, determine that first vehicle is imported to the remittance time in the target lane, tool
Body includes:
According to the first current vehicle position information, determine that first vehicle imports the remittance point position in target lane；
When up to first vehicle driving to the remittance point position, the vehicle of traveling is still not present in the target lane
When, directly to first vehicle send lane change execute instruction, the lane change execute instruction in include the remittance time and
The travel speed on target lane.
8. a kind of vehicle lane change method, which is characterized in that the method is by described in any item i-th vehicles of such as claim 3-6
It executes, which comprises
It receives the cooperation lane change that roadside unit is sent and indicates information, wherein including: the first vehicle in cooperation lane change instruction information
To the roadside unit send the corresponding parameter information of the first vehicle；
Information is indicated according to the cooperation lane change, generates lane change response, and feed back to the roadside unit；
And it when being determined as first vehicle and carrying out cooperation lane change, according to the corresponding parameter information of first vehicle, adopts
Take collaboration lane change operation.
9. a kind of roadside unit, which is characterized in that the roadside unit includes: processor and memory；
The memory is for storing one or more program instructions；
The processor, for running one or more program instructions, to execute such as the described in any item sides of claim 1-7
Method.
10. a kind of computer storage medium, which is characterized in that refer in the computer storage medium comprising one or more programs
It enables, one or more of program instructions are used to execute the method according to claim 1 to 7 by a kind of roadside unit.
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