CN110497843A - A kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique - Google Patents
A kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique Download PDFInfo
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- CN110497843A CN110497843A CN201910616861.5A CN201910616861A CN110497843A CN 110497843 A CN110497843 A CN 110497843A CN 201910616861 A CN201910616861 A CN 201910616861A CN 110497843 A CN110497843 A CN 110497843A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/34—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction
- B60Q1/346—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating change of drive direction with automatic actuation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to Vehicular intelligent driving technology fields; a kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique are provided; aim to solve the problem that driver often can be because a variety of causes open turn signal in reality; the problem of so as to cause traffic accident generation; vehicle lane-changing turn signal automatic opening system includes signal detection module, Decision Control module and drive control module, and the signal detection module is for detecting road surface carriageway image information, speed signal, steering wheel angle signal；The information that the Decision Control module obtains signal detection module is handled, and by judging whether decision is opened the control signal of turn signal；The drive control module receives the control signal of Decision Control module, and the turn signal that corresponding position is controlled when needing to open turn signal automatically turns on；The vehicle lane-changing prediction technique is based on the system, possesses preferable fault-tolerance and flexibility, social use value and application prospect with higher.
Description
Technical field
The present invention relates to Vehicular intelligent driving technology fields, and in particular to a kind of vehicle lane-changing turn signal automatic opening system
System and vehicle lane-changing prediction technique.
Background technique
Traffic control department proposes: vehicle should first observe rear whether there is or not carrying out vehicle, after not influencing if you need to changing Lane under steam
It, can changing Lane in the case where vehicle normally travel.
Changing Lane needs to open turn signal in advance, allows front vehicle to know the intention of front truck, and front vehicle is allowed to have
Sufficient time.However, driver often can not open turn signal because of a variety of causes in reality, so as to cause traffic accident hair
It is raw.Existing lane change judgement is generally basede on the calculating of time transboundary to complete, but this method needs more accurate model conduct
The basis of calculating, there are certain errors for practical application.
For this purpose, we have proposed a kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction techniques.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of vehicle lane-changing turn signal automatic opening system and replacing vehicles
Road prediction technique, overcomes the deficiencies in the prior art, and design is rationally, compact-sized, it is intended to solve driver Chang Huiyin in reality
The problem of a variety of causes does not open turn signal, occurs so as to cause traffic accident.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of vehicle lane-changing turn signal automatic opening system, including signal detection module, Decision Control module and driving control
Molding block, the signal detection module include video camera, vehicle speed sensor, steering wheel angle sensor, and the video camera is used for
Road surface lane line position is detected, and obtains the positional relationship of Che Yulu by calculating, the vehicle speed sensor, steering wheel angle pass
Sensor is for obtaining car speed and steering wheel angle information；
The information that the Decision Control module obtains signal detection module is handled, and by judging that decision is
The no control signal for opening turn signal；
The drive control module receives the control signal of Decision Control module, controls when needing to open turn signal corresponding
The turn signal of position automatically turns on.
Preferably, the road image that the video camera obtains divides remote, Jin Liangge lane detection area, and only to the two areas
Domain is handled.
Based on the vehicle lane-changing turn signal automatic opening system, the present invention provides a kind of vehicle lane-changing prediction technique, packet
Include following steps:
Step 1, system initialization, the road surface carriageway image obtained to video camera are handled, and identify road surface lane, and right
Peak threshold PC2 and ebb threshold value PC1 ((PC1 < PC2)) is arranged in lateral direction of car displacement；
Step 2 calculates lateral direction of car displacement PC, judges the relationship of PC Yu PC1, PC2:
2.1) when lateral direction of car displacement PC is more than peak threshold, i.e. when PC > PC2, determine that vehicle is in lane change state, such as
Fruit driver is not turned on turn signal, and then system automatically turns on；
2.2) when lateral direction of car displacement PC is less than peak threshold PC2, i.e. when PC≤PC2,3 execution are entered step；
Step 3, the lateral direction of car displacement to vehicle relative to road surface lane line are judged again；
3.1) when PC is less than ebb threshold value PC1, assert that vehicle is in and stablizes Lane tracking state, do not turn to or lane change
It is intended to；
3.2) when PC is greater than or equal to ebb threshold value PC1,4 execution are entered step；
Step 4 determines driver's go to action；
Vehicle is in transition operation at this time, i.e. vehicle is needed there may be the intention of steering or lane change according to subsequent
Situation is determined:
If 4.1) at this time driver without go to action or go to action have reduce lateral direction of car displacement PC effect (make
Vehicle is intended to stablize Lane tracking state), then determine to be intended to without steering or lane change；
If 4.2) go to action has the effect for increasing lateral direction of car displacement PC, while the state duration is greater than
Certain value (T0) then judges that vehicle is in lane change state, and system automatically turns on if driver is not turned on turn signal at this time.
Preferably, the steering wheel angle and speed that the size for continuing turnaround time T0 value is controlled according to driver are come really
It is fixed.
Preferably, the ebb threshold value PC1 and peak threshold PC2 are tests determined according to lane width, vehicle width etc..
(3) beneficial effect
The embodiment of the invention provides a kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique, tools
It is standby following the utility model has the advantages that
The present invention is dynamic according to the real-time control of driver using bus or train route positional relationship and driver's go to action as judgment basis
Make and it prejudges the subsequent affect of bus or train route positional relationship to driver intention and vehicle-state, needs not rely on height
Accurate model, and there is preferable fault-tolerance and flexibility.
Detailed description of the invention
Fig. 1 is vehicle lane-changing turn signal automatic opening system structural block diagram of the invention；
Fig. 2 is that carriageway image identification and lane of the invention keep deviation to calculate schematic diagram；
Fig. 3 is the schematic diagram that driver's go to action influences PC value in the present invention；
Fig. 4 is vehicle lane-changing prediction technique control flow chart of the invention；
Specific embodiment
The present invention is further described for 1-4 and embodiment with reference to the accompanying drawing:
A kind of vehicle lane-changing turn signal automatic opening system, including signal detection module, Decision Control module and driving control
Molding block, the signal detection module includes vehicle-mounted vidicon, vehicle speed sensor, steering wheel angle sensor, for detecting road
Face carriageway image information, speed signal, steering wheel angle signal；
The information that the Decision Control module obtains signal detection module is handled, and by judging that decision is
The no control signal for opening turn signal；
The drive control module receives the control signal of Decision Control module, controls when needing to open turn signal corresponding
The turn signal of position automatically turns on.
In the present embodiment, as shown in Fig. 2, to reduce image real time transfer amount to improve real-time, the vehicle-mounted vidicon
The road image of acquisition divides remote, Jin Liangge lane detection area, and only handles the two regions.Remote, the close detection
The lane line that area identifies is reduced to straight line l1、l2, by l1And l2Intersection point O1 and l1And l2Intersection point O2 connect (y1、y2Point
Do not divide two detection zones up and down equally), obtain straight line l as reference target path, lateral direction of car displacement PC by vehicle relative to
The deviation of directivity α and position deviation d of reference target path l codetermines (α and d is negative value in Fig. 2), is defined as
PC=| α+d | (1)
The lateral direction of car displacement PC is calculated through computer by formula 1 and is obtained in real time, and warp and ebb threshold value PC1, height
Peak threshold value PC2 is compared, to determine vehicle status (stablizing Lane tracking state, transition operation, lane change state).
When PC is less than PC1, determines that vehicle is in and stablize Lane tracking state；
When PC is greater than PC2, determine that vehicle is in lane change state；
When PC is greater than or equal to PC1 and is less than or equal to PC2, determine that vehicle is in transition operation, at this time vehicle
It is still travelled in lane line completely, danger is not constituted to other vehicles for closing on lane, but its lane keeps deviation more stable also
It is big when tracking mode, it a possibility that there are changing Lane or steering, is further determined: needing to judge that driver turns to
Movement makes lateral direction of car displacement PC increase or reduce, and (i.e. driver's subjective intention is that vehicle to be made is returned to stable lane
Tracking mode still makes vehicle continue run-off-road line center position area to enter lane change driving status).
For example, as shown in figure 3, two kinds of situations of a, b are all satisfied PC more than or equal to PC1 at this time and PC is less than or equal to PC2,
Influence of the go to action of driver's application to PC value size is then seen at this time.
In the case where a), the steering wheel if driver turns left will be such that PC value reduces；
In the case where b), the steering wheel if driver turns left will be such that PC value increases.
How PC value changes in various other situations, can refer to two kinds of situations of a, b and makes calculating and judgement.
If it is making PC increase (i.e. driver's subjectivity operation makes vehicle continue run-off-road line center position area), then may be used
Can want lane change, need to determine the duration of the go to action (increasing lateral direction of car displacement PC) with further true at this time
Recognize；If the duration is greater than threshold value T0, it can finally be determined as lane change.
No matter which kind of above situation, if turn signal is not turned on, automatically turns on after being determined as vehicle lane change.Tool
Body control flow is as shown in figure 4, steps are as follows:
Step 1, system initialization, the road surface carriageway image obtained to video camera are handled, and identify road surface lane, and right
Peak threshold PC2 and ebb threshold value PC1 ((PC1 < PC2)) is arranged in lateral direction of car displacement；
Step 2 calculates lateral direction of car displacement PC, judges the relationship of PC Yu PC1, PC2:
2.1) when lateral direction of car displacement PC is more than peak threshold, i.e. when PC > PC2, determine that vehicle is in lane change state, such as
Fruit driver is not turned on turn signal, and then system automatically turns on；
2.2) when lateral direction of car displacement PC is less than peak threshold PC2, i.e. when PC≤PC2,3 execution are entered step；
Step 3, the lateral direction of car displacement to vehicle relative to road surface lane line are judged again；
3.1) when PC is less than ebb threshold value PC1, assert that vehicle is in and stablizes Lane tracking state, do not turn to or lane change
It is intended to；
3.2) when PC is greater than or equal to ebb threshold value PC1,4 execution are entered step；
Step 4 determines driver's go to action；
Vehicle is in transition operation at this time, i.e. vehicle is needed there may be the intention of steering or lane change according to subsequent
Situation is determined:
If 4.1) at this time driver without go to action or go to action have reduce lateral direction of car displacement PC effect (make
Vehicle is intended to stablize Lane tracking state), then determine to be intended to without steering or lane change；
If 4.2) go to action has the effect for increasing lateral direction of car displacement PC, while the state duration is greater than
Certain value (T0) then judges that vehicle is in lane change state, and system automatically turns on if driver is not turned on turn signal at this time.
In the present embodiment, as shown in figure 4, the steering wheel that the size for continuing turnaround time T0 value is controlled according to driver
Corner and speed determine, because when steering wheel angle (absolute value) is bigger, when speed is higher, the cross of vehicle within a certain period of time
Bigger to displacement, a possibility that lane change, is higher, therefore the T0 value set should be smaller, on the contrary then bigger.
In the present embodiment, as shown in Figures 3 and 4, the ebb threshold value PC1 and peak threshold PC2 are according to lane width, vehicle
Width etc. is tests determined.
The present invention is dynamic according to the real-time control of driver using bus or train route positional relationship and driver's go to action as judgment basis
Make and it prejudges the subsequent affect of bus or train route positional relationship to driver intention and vehicle-state, needs not rely on height
Accurate model, and there is preferable fault-tolerance and flexibility.
What the embodiment of the present invention was announced is preferred embodiment, and however, it is not limited to this, the ordinary skill people of this field
Member, easily according to above-described embodiment, understands spirit of the invention, and make different amplification and variation, but as long as not departing from this
The spirit of invention, all within the scope of the present invention.
Claims (5)
1. a kind of vehicle lane-changing turn signal automatic opening system, which is characterized in that including signal detection module, Decision Control module
And drive control module, the signal detection module include vehicle-mounted vidicon, vehicle speed sensor, steering wheel angle sensor, are used
In detection road surface carriageway image information, speed signal, steering wheel angle signal；
The information that the Decision Control module obtains signal detection module is handled, and by judging whether decision is opened
Open the control signal of turn signal；
The drive control module receives the control signal of Decision Control module, and corresponding position is controlled when needing to open turn signal
Turn signal automatically turn on.
2. a kind of vehicle lane-changing turn signal automatic opening system as described in claim 1, which is characterized in that the vehicle-mounted pick-up
The road image that machine obtains divides remote, Jin Liangge lane detection area, and only handles the two regions.
3. a kind of vehicle lane-changing prediction technique, which comprises the steps of:
Step 1, system initialization, the road surface carriageway image obtained to video camera are handled, and identify road surface lane, and to vehicle
Peak threshold PC2 and ebb threshold value PC1 ((PC1 < PC2)) is arranged in lateral displacement amount；
Step 2 calculates lateral direction of car displacement PC, judges the relationship of PC Yu PC1, PC2:
2.1) when lateral direction of car displacement PC is more than peak threshold, i.e. when PC > PC2, determine that vehicle is in lane change state, if driven
The person of sailing is not turned on turn signal, and then system automatically turns on；
2.2) when lateral direction of car displacement PC is less than peak threshold PC2, i.e. when PC≤PC2,3 execution are entered step；
Step 3, the lateral direction of car displacement to vehicle relative to road surface lane line are judged again；
3.1) when PC is less than ebb threshold value PC1, assert that vehicle is in and stablize Lane tracking state, do not turn to or lane change is anticipated
Figure；
3.2) when PC is greater than or equal to ebb threshold value PC1,4 execution are entered step；
Step 4 determines driver's go to action；
Vehicle is in transition operation at this time, i.e. vehicle is needed there may be the intention of steering or lane change according to subsequent scenario
Determined:
If 4.1) at this time driver without go to action or go to action have reduce lateral direction of car displacement PC effect (make vehicle
It is intended to stablize Lane tracking state), then determine to be intended to without steering or lane change；
If 4.2) go to action has the effect for increasing lateral direction of car displacement PC, while the state duration is greater than centainly
It is worth (T0), then judges that vehicle is in lane change state, system automatically turns on if driver is not turned on turn signal at this time.
4. a kind of vehicle lane-changing prediction technique as claimed in claim 3, it is characterised in that: the lasting turnaround time T0 value
Steering wheel angle that size is controlled according to driver and speed determine.
5. a kind of vehicle lane-changing prediction technique as claimed in claim 3, it is characterised in that: the ebb threshold value PC1 and peak
Threshold value PC2 is tests determined according to lane width, vehicle width etc..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910616861.5A CN110497843A (en) | 2019-07-09 | 2019-07-09 | A kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910616861.5A CN110497843A (en) | 2019-07-09 | 2019-07-09 | A kind of vehicle lane-changing turn signal automatic opening system and vehicle lane-changing prediction technique |
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Cited By (4)
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| CN111169371A (en) * | 2020-01-14 | 2020-05-19 | 吉利汽车研究院（宁波）有限公司 | Control method and device of vehicle steering lamp, electronic equipment and storage medium |
| CN113147572A (en) * | 2021-06-02 | 2021-07-23 | 宝能(广州)汽车研究院有限公司 | Steering lamp control method and device, electronic equipment and storage medium |
| CN114312552A (en) * | 2022-01-19 | 2022-04-12 | 岚图汽车科技有限公司 | Steering lamp control method and device, terminal equipment and medium |
| CN114537266A (en) * | 2022-03-10 | 2022-05-27 | 合众新能源汽车有限公司 | Control method and device for steering lamp |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111169371A (en) * | 2020-01-14 | 2020-05-19 | 吉利汽车研究院（宁波）有限公司 | Control method and device of vehicle steering lamp, electronic equipment and storage medium |
| CN113147572A (en) * | 2021-06-02 | 2021-07-23 | 宝能(广州)汽车研究院有限公司 | Steering lamp control method and device, electronic equipment and storage medium |
| CN114312552A (en) * | 2022-01-19 | 2022-04-12 | 岚图汽车科技有限公司 | Steering lamp control method and device, terminal equipment and medium |
| CN114312552B (en) * | 2022-01-19 | 2024-01-09 | 岚图汽车科技有限公司 | Steering lamp control method, device, terminal equipment and medium |
| CN114537266A (en) * | 2022-03-10 | 2022-05-27 | 合众新能源汽车有限公司 | Control method and device for steering lamp |
| CN114537266B (en) * | 2022-03-10 | 2024-01-26 | 合众新能源汽车股份有限公司 | Control method and device for steering lamp |
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