CN110136484B - Vehicle lane changing method, road test unit and storage medium - Google Patents
Vehicle lane changing method, road test unit and storage medium Download PDFInfo
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- CN110136484B CN110136484B CN201910523615.5A CN201910523615A CN110136484B CN 110136484 B CN110136484 B CN 110136484B CN 201910523615 A CN201910523615 A CN 201910523615A CN 110136484 B CN110136484 B CN 110136484B
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Abstract
The embodiment of the invention discloses a vehicle lane changing method, a road test unit and a storage medium, wherein the method comprises the following steps: receiving a lane change request sent by a first vehicle; determining vehicle information on a target lane according to the target lane information; determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information of the target lane; determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane; and sending a lane change execution instruction to the first vehicle. In this way, the first vehicle can be conveniently and safely converged into the target lane, and can safely travel at the allowed travel speed on the target lane.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle networking, in particular to a vehicle lane changing method, a road test unit and a storage medium.
Background
With the continuous improvement of living standard of people, vehicles become the first choice of most people as vehicles. The convenience and quickness of vehicles are the preferred reasons.
However, as the number of vehicles on the road increases, the frequency of traffic accidents is also caused. Lane change is a scene which is most likely to induce traffic accidents in road driving, and if lane change is not reasonable enough, for example, lane change time is not proper, a vehicle which needs lane change at present and a vehicle which drives from the back easily collide. Especially when the traffic flow is large, traffic accidents are more likely to occur when vehicles change lanes.
Therefore, how to ensure that the vehicle can safely change the lane when running on the road becomes the technical problem to be solved by the application.
Disclosure of Invention
Therefore, the embodiment of the invention provides a vehicle lane changing method, a road test unit and a storage medium, so as to solve the technical problem of how to ensure lane changing safety when a vehicle runs on a road in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
according to a first aspect of embodiments of the present invention, there is provided a vehicle lane change method performed by a roadside unit, including:
receiving a lane change request sent by a first vehicle, wherein the lane change request comprises parameter information corresponding to the first vehicle and a target lane request;
determining vehicle information on the target lane according to the target lane information;
determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information of the target lane;
determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane;
and sending a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the merging time when the first vehicle merges into the target lane and the running speed on the target lane.
Further, the parameter information corresponding to the first vehicle includes:
identification information, vehicle type information, current position information, first traveling speed information, and vehicle length information corresponding to the first vehicle.
Further, the determining, according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, an entry time at which the first vehicle enters the target lane specifically includes:
when it is determined that at least one vehicle runs on the target lane, determining an entry point position where the first vehicle enters the target lane according to the current position information of the first vehicle;
acquiring the ith time when the ith vehicle running on the target lane reaches the convergence point;
determining first time when the first vehicle reaches the junction point according to the current position information and the first running speed information of the first vehicle;
when the absolute difference value between the ith time and the first time is smaller than or equal to a preset time threshold value, sending cooperative lane change indication information to the ith vehicle;
and after receiving the cooperative lane change response fed back by the ith vehicle, determining the merging time according to the first time and the ith time, wherein i is a numerical value which is greater than or equal to 1 and is less than or equal to the total number of all vehicles running on the target lane.
Further, the obtaining an ith time when an ith vehicle running on the target lane reaches the merging point position specifically includes:
acquiring ith position information of an ith vehicle running on the target lane and ith running speed information of the ith vehicle;
and determining the ith time when the ith vehicle reaches the position of the sink point according to the ith position information, the position of the sink point and the ith running speed information.
Further, the cooperative lane change indication information includes: and the parameter information corresponding to the first vehicle is used for facilitating that when the ith vehicle determines to perform cooperative lane change for the first vehicle according to the cooperative lane change indication information, the cooperative lane change operation is adopted according to the parameter information corresponding to the first vehicle.
Further, the lane change execution instruction also includes identification information of the ith vehicle.
Further, the determining, according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, an entry time at which the first vehicle enters the target lane specifically includes:
determining the position of an afflux point of the first vehicle afflux to a target lane according to the current position information of the first vehicle;
when the first vehicle runs to the junction point position and the target lane still has no running vehicle, directly sending a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the junction time and the running speed on the target lane.
According to a second aspect of the embodiments of the present invention, there is provided a vehicle lane change method performed by an ith vehicle in the vehicle lane change method of the first aspect, the method including:
receiving cooperative lane change indication information sent by a road side unit, wherein the cooperative lane change indication information comprises: the parameter information corresponding to the first vehicle is sent to the road side unit by the first vehicle;
generating a lane change response according to the cooperative lane change indication information, and feeding back the lane change response to the road side unit;
and when the first vehicle is determined to be subjected to cooperative lane changing, adopting cooperative lane changing operation according to the parameter information corresponding to the first vehicle.
According to a third aspect of embodiments of the present invention there is provided a road side unit comprising: a processor and a memory;
the memory is used for storing one or more program instructions;
a processor for executing one or more program instructions to perform any of the method steps of the vehicle lane-change method as described above.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having one or more program instructions embodied therein for use by a road side unit in performing any of the method steps of a vehicle lane change method as above.
The embodiment of the invention has the following advantages: when a first vehicle wants to perform lane changing operation, a communication connection is established with a road side unit through an on-board unit, and a lane changing request is sent to the road side unit, wherein the lane changing request comprises parameter information corresponding to the first vehicle and target lane information. The road side unit determines vehicle information on a target lane according to the target lane information; and determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information. And finally, determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane. And the merging time and the running speed on the target lane are sent to the first vehicle, so that the first vehicle can conveniently and safely merge into the target lane, the first vehicle is prevented from colliding with other vehicles, and the driving safety is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic diagram of a lane-change application scenario for a vehicle according to the present invention;
FIG. 2 is a schematic view of another vehicle lane-change application scenario provided by the present invention;
fig. 3 is a schematic flow chart of a vehicle lane change method provided in embodiment 1 of the present invention;
FIG. 4 is a schematic flow chart of another method for changing lanes of a vehicle according to embodiment 2 of the present invention;
fig. 5 is a schematic structural diagram of a vehicle lane-changing device according to embodiment 3 of the present invention;
fig. 6 is a schematic structural diagram of another lane-changing device for a vehicle according to embodiment 4 of the present invention;
fig. 7 is a schematic structural diagram of a roadside unit according to embodiment 5 of the present invention;
fig. 8 is a schematic structural diagram of a vehicle-mounted terminal according to embodiment 6 of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment 1 of the invention provides a vehicle lane changing method, which corresponds to a vehicle lane changing system. The system includes at least a first vehicle and a roadside unit. The road side unit is a road side unit which establishes communication connection with a first vehicle. The lane change application scenario includes at least two scenarios, the first scenario is that a first vehicle travels on a ramp, i.e., is about to enter a main road, and is specifically shown in fig. 1. The second is that the first vehicle is traveling on the main road, i.e. is about to enter an adjacent lane, and as shown in fig. 2, the vehicle a in fig. 1 and 2 is the first vehicle.
Aiming at the two application scenes, the embodiment of the invention provides a vehicle lane changing method. The method is performed by a road side unit. It should be noted that, although the embodiment only exemplifies the above two application scenarios, the embodiment is not limited to the above two application scenarios, and may also include other application scenarios. The principle of lane change is the same or similar, and only one application scenario is taken as an example for description, for example, an application scenario in which a first vehicle is driven on a ramp, that is, the vehicle is about to enter a main road is taken as an example for description of a vehicle lane change method, and other application scenarios are the same as the execution method of the scenario, or are simply subjected to adaptive adjustment, and are not described herein too much.
As shown in fig. 3, the method is executed by the road side unit for establishing communication connection with the first vehicle, and includes the following steps:
The first vehicle sends a lane change request. The lane change request may be sent to the road side unit by a first on-board unit in the first vehicle. The lane change request at least comprises parameter information corresponding to the first vehicle and target lane information.
In one embodiment, the parameter information corresponding to the first vehicle includes, but is not limited to: identification information corresponding to the first vehicle, vehicle type information, current position information, first running speed information, and vehicle length information.
And step 320, determining vehicle information on the target lane according to the target lane information.
Specifically, the roadside unit may determine a target lane into which the first vehicle is to merge according to the target lane information, and then determine vehicle information of the target lane. For example, there is a traffic jam condition where there is no vehicle traveling in the target lane or there are many vehicles traveling in the target lane. Or, only a small number of vehicles in the target lane travel, and so on.
And step 330, determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information of the target lane.
The traveling speed on the target lane is mainly determined based on the vehicle information of the target lane. The traveling speed on the target lane referred to herein may be a maximum traveling speed defined by the target lane, or may be determined synthetically from the traveling speed of the vehicle traveling on the target lane.
For example, if a traffic jam does not occur in the current target lane and all vehicles can normally travel, the traveling speed of the vehicles cannot exceed the maximum traveling speed of the target lane. The running speed may be set to an average running speed of the current vehicle on the target lane, or the like, if the current traffic is blocked. The specific setting can be set according to actual conditions, and a plurality of descriptions are not provided here.
And 340, determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane.
Specifically, as can be seen from step 320, there are various situations for the vehicle information in the target lane. However, dividing the target lane into two cases, namely, at least one vehicle running on the target lane; the other is that no vehicle is traveling in the target lane. However, the first vehicle does not travel all the time, but the first vehicle still does not travel on the target lane until the first vehicle travels to the corresponding merge point position of the target lane.
Optionally, based on the first condition, determining an entry time for the first vehicle to enter the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, specifically including:
step a, determining the position of an afflux point of a first vehicle afflux to a target lane according to the current position information of the first vehicle.
In particular, if the target lane does not include only one junction location that can enter the host lane. Then, the merging point position where the first vehicle merges into the target lane needs to be determined according to the current position information of the first vehicle, and preferably, the merging point position where the first vehicle is allowed to enter the target lane and is closest to the current position of the first vehicle.
And B, acquiring the ith time when the ith vehicle (such as the vehicle B in the figure 1 or the figure 2 or other vehicles in the figure 1 or the figure 2) running on the target lane reaches the merging point position.
Optionally, the ith position information of the ith vehicle running on the target lane and the running speed information of the ith vehicle are obtained. And the information is uploaded to the road side unit after the communication connection is established between the ith vehicle and the road side unit.
And determining the ith time when the ith vehicle reaches the position of the merging point according to the ith position information, the position of the merging point and the ith running speed information. I.e. the ratio of the distance between the merging point position and the ith position to the ith traveling speed information, is the ith time.
And c, determining the first time when the first vehicle reaches the junction point according to the current position information and the first running speed information of the first vehicle.
The manner of acquiring the first time is similar to that of acquiring the ith time, and is not described herein.
And d, when the absolute difference value between the ith time and the first time is less than or equal to the preset time threshold value, sending cooperative lane change indication information to the ith vehicle.
Specifically, if the ith vehicle is far from the merge point, after the lane change of the first vehicle is completed, the ith vehicle has not yet traveled to the location, and it is not necessary to inform the ith vehicle of the need for a coordinated lane change. Or, if the ith vehicle is close to the merging point, the ith vehicle passes through the merging point early when the first vehicle reaches the position of the merging point, and the ith vehicle does not need to be informed of the coordinated lane change. If the ith vehicle is near the entry point when the first vehicle reaches the entry point, then coordination of the first vehicle lane change is required. The best way to detect whether the ith vehicle is near the merge point when the first vehicle reaches the merge point location is to determine whether the absolute difference between the ith time and the first time is less than or equal to a preset time threshold (e.g., 5 s). If it is less than or equal to the preset time threshold, it is naturally known whether or not it is near the merge point, based on the traveling speed of the ith vehicle.
If the vehicle is near the junction, the cooperative lane change instruction information needs to be sent to the ith vehicle.
Optionally, the cooperative lane change indication information may include, but is not limited to, parameter information corresponding to the first vehicle. When the ith vehicle determines that the first vehicle performs cooperative lane change according to the cooperative lane change indication information, cooperative lane change operation is performed according to parameter information corresponding to the first vehicle, for example, when the ith vehicle can be near an entry point, the position of the ith vehicle is properly adjusted, or the ith vehicle is decelerated in advance, and the ith vehicle is enabled to make way change so as to avoid the situation of collision with the first vehicle.
Further optionally, after the ith vehicle has made an appropriate adjustment according to the cooperative lane change indication information, a cooperative lane change response is sent to the road side unit. Then, the roadside unit is further configured to execute step e, and after receiving the cooperative lane change response fed back by the ith vehicle, determine an import time according to the first time and the ith time.
Preferably, the import time is the first time. Since the ith vehicle knows explicitly that the first vehicle will reach the merge point at this time, and will be automatically dodged, a lane change response is sent to the road side unit before the automatic dodging is made. Therefore, the ith vehicle may enter at the first time.
Of course, the first time plus the preset time may be set, which mainly considers that if the ith vehicle just passes through the junction point at the first time, at this time, if the first vehicle enters into the target lane from the junction point, there may be a risk of collision with the ith vehicle, and therefore, the ith vehicle may pass into the target lane after a little time. Of course, this is also considered to be a case where there is no conflict with the following vehicle. The specific import time can be set according to actual conditions, and will not be described herein. Wherein i is a numerical value greater than or equal to 1 and less than or equal to the total number of all vehicles running on the target lane. The cooperative lane change indication information includes, but is not limited to: and parameter information corresponding to the first vehicle.
In a second case, determining an entry time for the first vehicle to enter the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, specifically including:
determining the position of an afflux point of the first vehicle afflux to a target lane according to the current position information of the first vehicle;
when the first vehicle runs to the junction point position and the target lane still has no running vehicle, directly sending a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the junction time and the running speed on the target lane.
The lane change execution instruction comprises the merging time when the first vehicle merges into the target lane and the driving speed on the target lane.
Specifically, after the time for the first vehicle to enter is determined, a lane change instruction may be sent to the first vehicle, and the lane change execution instruction may include the time for the first vehicle to enter and a traveling speed in the target lane.
Further optionally, the lane change execution instruction may further include identification information of the ith vehicle. The first vehicle can directly establish V2X communication connection with the ith vehicle according to the identification information of the ith vehicle, and the direct communication completes the coordination lane change.
The identification information of the first vehicle and the ith vehicle identification information can be vehicle ID information.
In another scenario, the process executed in step 340 specifically includes: determining the position of an afflux point of the first vehicle afflux to a target lane according to the current position information of the first vehicle;
and when the first vehicle runs to the junction point position and the target lane still has no running vehicle, the road side unit directly sends a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the junction time and the running speed on the target lane. The merging time is the first time, and the running speed on the target lane is the maximum running speed of the target lane.
According to the vehicle lane changing method provided by the embodiment of the invention, when a first vehicle wants to perform lane changing operation, communication connection is established with a road side unit through an on-board unit, and a lane changing request is sent to the road side unit, wherein the lane changing request comprises parameter information and target lane information corresponding to the first vehicle. The road side unit determines vehicle information on a target lane according to the target lane information; and determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information. And finally, determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane. And the merging time and the running speed on the target lane are sent to the first vehicle, so that the first vehicle can conveniently and safely merge into the target lane, the first vehicle is prevented from colliding with other vehicles, and the driving safety is ensured.
In correspondence with embodiment 1 described above, an embodiment of the present invention further provides a lane change method performed by the i-th vehicle described in the above embodiment, specifically as shown in fig. 4, the method including:
and step 410, receiving the cooperative lane change indication information sent by the road side unit.
Wherein the cooperative lane change indication information comprises: and parameter information corresponding to the first vehicle.
And step 420, generating a lane change response according to the cooperative lane change indication information, and feeding back the lane change response to the road side unit.
And 430, when determining that the first vehicle carries out cooperative lane change, adopting cooperative lane change operation according to the parameter information corresponding to the first vehicle.
As can be seen from the previous embodiment, the ith vehicle generates the lane change response according to the cooperative lane change indication information only after receiving the cooperative lane change indication sent by the road side unit. The lane change response is generated and fed back to the road side unit, so that the road side unit can conveniently determine whether the ith vehicle executes the cooperative lane change operation. And determining the merging time of the first vehicle into the target lane according to the response result. The cooperative lane-change maneuver taken by the ith vehicle may include, but is not limited to, the following: such as active avoidance, slow vehicle speed, etc. The specific measures taken have been illustrated in the previous embodiment and will not be described in great detail here.
The embodiment of the invention provides a vehicle lane changing method, wherein an ith vehicle generates corresponding cooperative lane changing operation according to cooperative lane changing indication information sent by a road side unit, so that the first vehicle can be conveniently and safely and quickly merged into a target lane through a merging point, and the driving safety in a road can be ensured.
Corresponding to the above embodiment 1, embodiment 3 of the present invention further provides a lane change device for a vehicle, specifically as shown in fig. 5, the device including: a receiving unit 501, a processing unit 502 and a transmitting unit 503.
A receiving unit 501, configured to receive a lane change request sent by a first vehicle, where the lane change request includes parameter information and target lane information corresponding to the first vehicle;
a processing unit 502, configured to determine vehicle information on a target lane according to the target lane information; determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information of the target lane; determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane;
a sending unit 503, configured to send a lane change execution instruction to the first vehicle, where the lane change execution instruction includes an entry time when the first vehicle enters the target lane and a traveling speed on the target lane.
Optionally, the apparatus further comprises: an acquisition unit 504;
the processing unit 502 is specifically configured to, when it is determined that at least one vehicle runs on the target lane, determine, according to current position information of the first vehicle, an entry point position where the first vehicle enters the target lane;
an obtaining unit 504, configured to obtain an ith time when an ith vehicle traveling on the target lane reaches the merge point;
the processing unit 502 is further configured to determine a first time when the first vehicle reaches the junction point according to the current position information of the first vehicle and the first traveling speed information;
the sending unit 503 is specifically configured to send cooperative lane change instruction information to the ith vehicle when it is determined that the absolute difference between the ith time and the first time is less than or equal to the preset time threshold;
the receiving unit 501 is further configured to receive a cooperative lane change response fed back by the ith vehicle;
the processing unit 502 is further configured to determine an import time according to the first time and the ith time, where i is a value greater than or equal to 1 and less than or equal to the total number of all vehicles traveling on the target lane.
Optionally, the obtaining unit 504 is specifically configured to: the method comprises the steps of obtaining the ith position information of an ith vehicle running on a target lane and the ith running speed information of the ith vehicle, and determining the ith time when the ith vehicle reaches the position of the merging point according to the ith position information, the position of the merging point and the ith running speed information.
Optionally, the cooperative lane change indication information includes: and parameter information corresponding to the first vehicle.
Optionally, the lane change execution instruction further includes identification information of the ith vehicle.
Optionally, the processing unit 502 is specifically configured to determine, according to the current position information of the first vehicle, an entry point position where the first vehicle enters the target lane;
when the first vehicle travels to the merge point position, and the target lane still has no traveling vehicle, the sending unit 503 is further configured to directly send a lane change execution instruction to the first vehicle, where the lane change execution instruction includes the merge time and the traveling speed on the target lane.
The functions performed by the components in the vehicle lane-changing device provided by the embodiment of the present invention have been described in detail in embodiment 1, and therefore, redundant description is not repeated here.
According to the vehicle lane changing device provided by the embodiment of the invention, when a first vehicle wants to perform lane changing operation, communication connection is established with a road side unit through an on-board unit, and a lane changing request is sent to the road side unit, wherein the lane changing request comprises parameter information and target lane information corresponding to the first vehicle. The road side unit determines vehicle information on a target lane according to the target lane information; and determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information. And finally, determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane. And the merging time and the running speed on the target lane are sent to the first vehicle, so that the first vehicle can conveniently and safely merge into the target lane, the first vehicle is prevented from colliding with other vehicles, and the driving safety is ensured.
Corresponding to the above embodiment 2, embodiment 4 of the present invention further provides a lane change device for a vehicle, specifically as shown in fig. 6, the lane change device including: receiving section 601, processing section 502, and transmitting section 503.
The receiving unit 601 is configured to receive the cooperative lane change indication information sent by the road side unit.
Wherein the cooperative lane change indication information comprises: and parameter information corresponding to the first vehicle.
The processing unit 602 is configured to generate a lane change response according to the cooperative lane change instruction information, and when it is determined that the first vehicle performs the cooperative lane change, take a cooperative lane change operation according to parameter information corresponding to the first vehicle.
A sending unit 603, configured to feed back a lane change response to the road side unit.
The functions performed by the components in the vehicle lane-changing device according to the embodiment of the present invention have been described in detail in embodiment 2, and therefore, will not be described in detail herein.
According to the vehicle lane changing device provided by the embodiment of the invention, the corresponding cooperative lane changing operation is generated according to the cooperative lane changing indication information sent by the road side unit, so that the first vehicle can be conveniently and safely and quickly converged into the target lane through the convergent point, and the driving safety in the road can be ensured.
Corresponding to the foregoing embodiment 1 or 3, embodiment 5 of the present invention further provides a road side unit, specifically as shown in fig. 7, where the road side unit includes: a processor 701 and a memory 702;
the memory 702 is used to store one or more program instructions;
processor 701 for executing one or more program instructions for performing any of the method steps of a vehicle lane-change method as described in embodiment 1 above.
According to the road side unit provided by the embodiment of the invention, when a first vehicle wants to perform lane change operation, firstly, the vehicle-mounted unit establishes communication connection with the road side unit, and sends a lane change request to the road side unit, wherein the lane change request comprises parameter information and target lane information corresponding to the first vehicle. The road side unit determines vehicle information on a target lane according to the target lane information; and determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information. And finally, determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane. And the merging time and the running speed on the target lane are sent to the first vehicle, so that the first vehicle can conveniently and safely merge into the target lane, the first vehicle is prevented from colliding with other vehicles, and the driving safety is ensured.
Corresponding to the foregoing embodiment 2 or 4, embodiment 6 of the present invention further provides an in-vehicle terminal mounted on an ith vehicle, specifically as shown in fig. 8, where the in-vehicle terminal includes: a processor 801 and a memory 802;
the memory 802 is used to store one or more program instructions;
processor 801 for executing one or more program instructions for performing any of the method steps of a vehicle lane-change method as described in embodiment 2 above.
In correspondence with the above embodiments, embodiments of the present invention also provide a computer storage medium containing one or more program instructions therein. Wherein the one or more program instructions are for execution by a road side unit of a vehicle lane change method as described in embodiment 1 above.
In correspondence with the above embodiments, embodiments of the present invention also provide a computer storage medium containing one or more program instructions therein. Wherein the one or more program instructions are for execution by a road side unit of a vehicle lane change method as described in embodiment 2 above.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A method of changing lanes of a vehicle, the method being performed by a roadside unit, the method comprising:
receiving a lane change request sent by a first vehicle, wherein the lane change request comprises parameter information corresponding to the first vehicle and a target lane request;
determining vehicle information on a target lane according to the target lane information;
determining the running speed of the first vehicle on the target lane according to the target lane information and the vehicle information of the target lane;
determining the merging time of the first vehicle merging into the target lane according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane;
sending a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the merging time when the first vehicle merges into the target lane and the driving speed on the target lane;
the determining, according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, an entry time when the first vehicle enters the target lane specifically includes:
when it is determined that at least one vehicle runs on the target lane, determining an entry point position where the first vehicle enters the target lane according to the current position information of the first vehicle;
acquiring the ith time when the ith vehicle running on the target lane reaches the convergence point;
determining first time when the first vehicle reaches the junction point according to the current position information and the first running speed information of the first vehicle;
when the absolute difference value between the ith time and the first time is smaller than or equal to a preset time threshold value, sending cooperative lane change indication information to the ith vehicle; the cooperative lane change indication information comprises: parameter information corresponding to the first vehicle is used for facilitating that when the ith vehicle determines to perform cooperative lane changing for the first vehicle according to the cooperative lane changing indication information, cooperative lane changing operation is performed according to the parameter information corresponding to the first vehicle;
after receiving the cooperative lane change response fed back by the ith vehicle, determining the merging time according to the first time and the ith time, wherein i is a numerical value which is greater than or equal to 1 and is less than or equal to the total number of all vehicles running on the target lane;
the determining, according to the parameter information corresponding to the first vehicle and the vehicle information on the target lane, an entry time when the first vehicle enters the target lane specifically includes:
determining the position of an afflux point of the first vehicle afflux to a target lane according to the current position information of the first vehicle;
when the first vehicle runs to the junction point position and the target lane still has no running vehicle, directly sending a lane change execution instruction to the first vehicle, wherein the lane change execution instruction comprises the junction time and the running speed on the target lane.
2. The method of claim 1, wherein the parameter information corresponding to the first vehicle comprises:
identification information, vehicle type information, current position information, first traveling speed information, and vehicle length information corresponding to the first vehicle.
3. The method according to claim 1, wherein the obtaining an ith time when an ith vehicle traveling on the target lane reaches the merge point location specifically comprises:
acquiring ith position information of an ith vehicle running on the target lane and ith running speed information of the ith vehicle;
and determining the ith time when the ith vehicle reaches the position of the sink point according to the ith position information, the position of the sink point and the ith running speed information.
4. The method according to claim 1 or 3, wherein the lane change execution instruction further includes identification information of the i-th vehicle.
5. A vehicle lane change method, characterized in that the method is performed by an i-th vehicle according to any one of claims 1-4, the method comprising:
receiving cooperative lane change indication information sent by a road side unit, wherein the cooperative lane change indication information comprises: the parameter information corresponding to the first vehicle is sent to the road side unit by the first vehicle;
generating a lane change response according to the cooperative lane change indication information, and feeding back the lane change response to the road side unit;
and when the first vehicle is determined to be subjected to cooperative lane changing, adopting cooperative lane changing operation according to the parameter information corresponding to the first vehicle.
6. A road side unit, comprising: a processor and a memory;
the memory is to store one or more program instructions;
the processor, configured to execute one or more program instructions to perform the method of any of claims 1-4.
7. A computer storage medium containing one or more program instructions for execution by a roadside unit to perform the method of any of claims 1-4.
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| CN110972085B (en) * | 2019-11-27 | 2022-05-10 | 北京梧桐车联科技有限责任公司 | Information interaction method, device, storage medium, equipment and system |
| US20230111226A1 (en) * | 2020-03-27 | 2023-04-13 | Mercedes-Benz Group AG | Method for supporting an automatically driving vehicle |
| CN113971894A (en) * | 2020-07-24 | 2022-01-25 | 奥迪股份公司 | Vehicle control method and device, electronic equipment and vehicle |
| CN111986514B (en) * | 2020-09-17 | 2021-12-14 | 腾讯科技（深圳）有限公司 | Vehicle-based data processing method, device, equipment and medium |
| CN115131988B (en) * | 2021-03-25 | 2024-06-18 | 长沙智能驾驶研究院有限公司 | Vehicle lane changing method, device, equipment and computer storage medium |
| CN113744540A (en) * | 2021-09-29 | 2021-12-03 | 中汽创智科技有限公司 | Vehicle import method, system, equipment and storage medium |
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