CN110733507B

CN110733507B - Lane changing and road isolating method, device, equipment and storage medium

Info

Publication number: CN110733507B
Application number: CN201810792181.4A
Authority: CN
Inventors: 吴栋磊
Original assignee: Banma Zhixing Network Hongkong Co Ltd
Current assignee: Banma Zhixing Network Hongkong Co Ltd
Priority date: 2018-07-18
Filing date: 2018-07-18
Publication date: 2023-02-24
Anticipated expiration: 2038-07-18
Also published as: CN110733507A

Abstract

The disclosure provides a lane change and road isolation method, device, equipment and storage medium. Counting the traffic of each lane in the road to obtain the current traffic of each lane; predicting the traffic change condition of each lane in the road to obtain the predicted change traffic of each lane; and determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises position information of lane change lanes and guide information for assisting lane change. Therefore, the lane changing strategy capable of meeting the current requirements can be obtained by analyzing the real-time traffic flow data, so that the purpose of real-time regulation and control can be achieved.

Description

Lane changing and road isolating method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of transportation, and in particular, to a method, an apparatus, a device, and a storage medium for lane change and road isolation.

Background

In recent years, with the improvement of the living standard of people, automobiles become main transportation means of people, and the accompanying thing is the great increase of urban automobile traffic flow. Under the condition of limited road resources, how to relieve the pressure brought by the gradually increased traffic flow is a main problem faced at present. At present, one or more lanes with the driving direction of vehicles changing with different time periods, namely tidal lanes, are arranged in cities according to different conditions of traffic flow in the morning and in the evening to relieve traffic pressure. It is anticipated that such variable lanes will become more prevalent as traffic flow increases.

However, the existing lane change needs manual setting, and the lane change is generally performed at a fixed time (for example, in the morning and in the evening).

Disclosure of Invention

One object of the present disclosure is to propose a lane change scheme that can meet the real-time regulation requirements.

According to a first aspect of the present disclosure, a lane change method is proposed, comprising: counting the traffic of each lane in the road to obtain the current traffic of each lane; predicting the traffic change condition of each lane in the road to obtain the predicted change traffic of each lane; and determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises position information of lane change lanes and guide information for assisting lane change.

Optionally, the step of counting the traffic of each lane in the road includes: analyzing the lane information of the vehicle; and determining the existing lane flow of each lane based on the lane information to which the vehicle belongs.

Optionally, the lane change method further comprises: acquiring vehicle information of vehicles in a road; and/or acquiring road side information of the road, wherein the road side information comprises road information and/or photographed road image information.

Optionally, the step of counting the traffic of each lane in the road includes: the method comprises the following steps of counting the flow of each lane in the road based on vehicle information and/or roadside information, and/or predicting the change condition of the flow of each lane in the road, wherein the steps comprise: and predicting the flow change condition of each lane in the road based on the vehicle information and/or the roadside information.

Optionally, the step of predicting the traffic change condition of each lane in the road includes: counting lane speeds of all lanes in a road; respectively counting the inlet section flow and the outlet section flow of each lane; and obtaining the estimated change flow of each lane based on the lane speed, the inlet section flow, the outlet section flow and the traffic light duration information.

Optionally, the step of predicting the traffic flow change condition of each lane in the road further includes: determining lane change information of the vehicle according to the navigation direction of the vehicle in the road; obtaining the entrance flow and the exit flow of each lane based on the lane change information; and adjusting the estimated change flow rate based on the entrance flow rate and the exit flow rate.

Optionally, the step of determining a lane change strategy comprises: carrying out statistics on the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in a road; and determining a lane change strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in two different vehicle driving directions.

Optionally, the lane change strategy is generated in case the difference of the average existing lane flow and/or the average predicted lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold.

Optionally, the guidance information comprises one or more of: lane change preparation time; an effective duration; guiding the vehicle speed; corresponding to the duration of the traffic light; and road sign update information.

Optionally, the lane change method further comprises: obtaining lane change decisions of a plurality of roads in a preset area; each lane change decision is adjusted with the goal of improving the overall traffic environment within the predetermined area.

Optionally, the step of adjusting each lane change decision comprises: performing integrated simulation calculation on the lane change decisions of a plurality of roads to calculate the overall flow and the vehicle speed change condition in a preset area; each lane change decision is adjusted based on the calculation.

Optionally, the lane change method further comprises: determining vehicles needing lane changing in a road; and sending the guiding information to the vehicles needing to change lanes.

Optionally, the lane change method further comprises: and changing road side information of the road based on the lane change strategy, wherein the road side information comprises one or more of road information, road identification and traffic light switching time.

Optionally, the lane change method further comprises: and under the condition that the vehicle is detected not to run according to the lane change strategy, sending a prompt to the vehicle, or correcting the running direction of the vehicle, or controlling to stop the vehicle.

Alternatively, the road is a road on which the direction of travel of the vehicle is variable, such as a tidal road.

According to a second aspect of the present disclosure, there is also provided a road isolation method, comprising: generating a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy comprises position information of the predetermined lane range and guide information for assisting lane change; and transmitting guidance information to the vehicle located within the predetermined lane range to guide the vehicle to move away from the predetermined lane range.

Optionally, the road isolation method further comprises: and changing road side information of the road based on the lane change strategy, wherein the road side information comprises one or more of road information, road identification and traffic light switching time.

According to a third aspect of the present disclosure, there is also provided a lane change device including: the first statistical module is used for counting the traffic of each lane in the road to obtain the current lane traffic of each lane; the first estimation module is used for estimating the traffic change condition of each lane in the road to obtain the estimated change traffic of each lane; and the strategy determining module is used for determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises the position information of the lane change lane and the guide information for assisting lane change.

Optionally, the first statistics module comprises: the lane analysis module is used for analyzing the lane information of the vehicle; and the lane flow determining module is used for determining the existing lane flow of each lane based on the lane information of the vehicle.

Optionally, the lane change device further comprises: the first information acquisition module is used for acquiring vehicle information of vehicles in a road; and/or the second information acquisition module is used for acquiring road side information of the road, wherein the road side information comprises road information and/or photographed road image information.

Optionally, the first statistical module counts the flow of each lane in the road based on the vehicle information and/or the roadside information, and/or the first estimation module estimates the change situation of the flow of each lane in the road based on the vehicle information and/or the roadside information.

Optionally, the first estimation module includes: the third statistical module is used for counting the lane speed of each lane in the road; the fourth statistical module is used for respectively carrying out statistics on the inlet section flow and the outlet section flow of each lane; and the variable flow pre-estimation module is used for obtaining the pre-estimated variable flow of each lane based on the lane speed, the inlet section flow, the outlet section flow and the traffic light time length information.

Optionally, the first estimation module further includes: the lane change information determining module is used for determining lane change information of the vehicle according to the navigation direction of the vehicle in the road; the traffic determining module is used for obtaining the entrance traffic and the exit traffic of each lane based on lane change information; and the first adjusting module is used for adjusting the estimated change flow rate based on the entrance flow rate and the exit flow rate.

Optionally, the policy determination module includes: the fifth statistical module is used for counting the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in a road; and the strategy determining submodule is used for determining a lane changing strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in the two different vehicle driving directions.

Optionally, the policy determination sub-module generates the lane change policy in case a difference of an average existing lane flow and/or an average predicted lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold.

Optionally, the lane changing device further comprises: the strategy acquisition module is used for acquiring lane change decisions of a plurality of roads in a preset area; and a second adjustment module for adjusting each lane change decision with the goal of improving the overall traffic environment within the predetermined area.

Optionally, the second adjusting module comprises: the operation module is used for carrying out integrated simulation calculation on the lane change decisions of a plurality of roads so as to calculate the overall flow and the vehicle speed change condition in a preset area; and a second adjusting submodule for adjusting each lane change decision based on the calculation result.

Optionally, the lane change device further comprises: the vehicle determining module is used for determining vehicles needing lane changing in a road; and the sending module is used for sending the guiding information to the vehicle needing lane changing.

Optionally, the lane change device further comprises: the information changing module is used for changing road side information of the road based on the lane changing strategy, wherein the road side information comprises one or more of road information, road identification and traffic light switching time.

Optionally, the lane change device further comprises: and the control module is used for sending a prompt to the vehicle, or correcting the driving direction of the vehicle, or controlling the vehicle to stop under the condition that the vehicle is detected not to drive according to the lane change strategy.

Alternatively, the road is a road on which the vehicle traveling direction of the lane is changeable.

According to a fourth aspect of the present disclosure, there is also provided a road isolation device, comprising: the strategy generation module is used for responding to an isolation instruction aiming at a preset lane range in a road and generating a lane changing strategy, wherein the lane changing strategy comprises position information of the preset lane range and guide information for assisting lane changing; and the sending module is used for sending the guiding information to the vehicle positioned in the preset lane range so as to guide the vehicle to leave the preset lane range.

Optionally, the road isolation device further comprises: the system comprises a changing module and a traffic light switching module, wherein the changing module is used for changing road side information of a road based on a lane changing strategy, and the road side information comprises one or more of road information, road identification and traffic light switching time.

According to a fifth aspect of the present disclosure, there is also provided a computing device comprising: a processor; and a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform a method as set forth in the first or second aspect of the disclosure.

According to a sixth aspect of the present disclosure, there is also provided a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform a method as set forth in the first or second aspect of the present disclosure.

The public system can obtain real-time dynamic traffic flow data at lane levels by counting the current traffic flow of each lane in the road and estimating the traffic flow change condition of the lanes, so that a lane change strategy capable of meeting the current requirement can be obtained by analyzing based on the real-time traffic flow data, and the purpose of real-time regulation and control can be achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

Fig. 1 is a schematic flowchart illustrating a lane change method according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram showing an inlet section and an outlet section of a lane.

Fig. 3 is a schematic flow chart diagram illustrating a road isolation method according to an embodiment of the present disclosure.

Fig. 4 is an implementation flowchart illustrating a lane change method according to an embodiment of the present disclosure.

Fig. 5 is a schematic block diagram illustrating a structure of a lane change apparatus according to an embodiment of the present disclosure.

Fig. 6 is a schematic configuration diagram showing functional modules that the first statistical module may have.

Fig. 7 is a schematic structural diagram showing functional modules that the first estimation module may have.

Fig. 8 is a schematic configuration diagram showing functional modules that the policy determination module may have.

Fig. 9 is a schematic block diagram illustrating the structure of a road isolation device according to an embodiment of the present disclosure.

Fig. 10 is a schematic structural diagram illustrating a data processing computing device that can be used to implement the above-described method according to an embodiment of the present disclosure.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[ term interpretation ]

V2X: namely, vehicle to evolution means information exchange between vehicles and the outside, and is a general term of a series of Vehicle-mounted communication technologies. Generally, V2X mainly includes six major categories, i.e., vehicle-to-vehicle (V2V), vehicle-to-roadside device (V2R), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), vehicle-to-locomotive (V2M), and vehicle-to-bus (V2T)

An OBU: the abbreviation of On board Unit, interpreted, is the meaning of the On board Unit. The OBU is mounted on a vehicle, and may be regarded as a microwave device that communicates with the RSU using DSRC (Dedicated Short Range Communication) technology.

RSU: the abbreviation of Road Side Unit is interpreted to mean the roadside Unit, installed in the roadside, and communicating with the OBU by using DSRC (Dedicated Short Range Communication) technology.

[ Lane changing method ]

Referring to fig. 1, in step S110, the traffic of each lane in the road is counted to obtain the existing traffic of each lane.

The road mentioned here preferably means a road comprising at least two lanes in different directions of travel of the vehicle, i.e. a bidirectional lane consisting of two opposite direction traffic lanes, such as a bidirectional four-lane, a bidirectional six-lane, a bidirectional eight-lane, etc. A road referred to in this disclosure may refer to a road in which the direction of travel of vehicles in the lane of the road is variable, such as a tidal lane (i.e., a variable lane).

The lane information to which the vehicle in the road belongs may be analyzed, and the existing lane traffic of each lane may be determined based on the lane information to which the vehicle belongs. The lane information to which the vehicle belongs can be analyzed in various ways. For example, the lane information of the vehicle may be calculated according to data of the vehicle such as GPS, inertial guidance, map and road information, driving records, etc., the lane information of the vehicle may also be obtained by image recognition, the lane information of the vehicle may also be obtained by scanning with a radar (such as a laser radar or a millimeter wave radar), and the lane information of the vehicle may also be obtained in various other ways, which is not described herein again.

The lane information of the vehicle can be determined by the vehicle itself or by a server. In the case of determination by the vehicle itself, the lane information to which the vehicle belongs may be directly acquired, and the existing traffic of each lane may be determined by counting the lane information of all vehicles in the road. In the case of determination by the server, vehicle information such as position navigation information and driving records of the vehicle may be acquired, lane information where the vehicle is located may be calculated based on the acquired vehicle data in combination with map and road information, or the lane information where the vehicle is located may be obtained by using image recognition, scanning by radar (such as laser radar and millimeter wave radar), or the like without acquiring the vehicle data.

As an example, the vehicle may transmit its own body information (e.g., size, speed, acceleration, etc.), position navigation, travel record, belonging lane, etc. to the roadside RSU through the vehicle OBU via V2X. The road side RSU can combine the collected vehicle information with the road information of the road side RSU and the image information collected by the camera and output the combined information to the server side. The lanes are optional, and can be calculated locally on the vehicle through data such as GPS, inertial guidance, map and road information, driving records and the like, and can also be analyzed by a server side according to image recognition or radar scanning and the like. The server side can count the collected data to obtain the existing lane flow of each lane in the road.

In step S120, the traffic variation of each lane in the road is estimated to obtain the estimated variation traffic of each lane.

The method is mainly used for estimating the flow change condition of each next lane. For example, the change of the traffic flow in each lane in the next predetermined time (the next traffic light period) may be estimated.

As an example, the lane speed of each lane in the road may be counted, and the inlet section flow rate and the outlet section flow rate of each lane may be counted, respectively. Based on the lane speed, the inlet section flow, the outlet section flow and the traffic light time length information, the estimated change flow of each lane can be obtained. For example, the inlet and outlet section flows may refer to flows within a unit cross section along the direction of vehicle travel, and the predicted change flow may be equal to (inlet section flow-outlet section flow) × lane speed × traffic light duration. Wherein, the estimated change flow is positive, indicating that the inflow is greater than the outflow, and the estimated change flow is positive, indicating that the outflow is greater than the inflow.

When the lane speed is calculated in a statistical manner, the average speed in the lane may be used as the lane speed, the average speed may be adjusted according to the weight of the head and the tail of the lane to obtain the lane speed, the lane speed may be calculated in a weighted summation manner according to the speeds of different road sections of the lane (such as the head section, the middle section, and the tail section of the lane), and the lane speed may be calculated in other statistical manners, which is not described herein again.

Optionally, after obtaining the lane speed, the real passing speed (which may represent the real passing distance in unit time) may be calculated by combining the traffic light time information (which may be ignored if the lane speed is an expressway) of the road and by multiplying the lane speed by the passing time (such as the green light time)/the total time (such as the traffic light cycle time). The real same-travel speed obtained by calculation can replace the lane speed and participate in the calculation of the subsequent estimated change flow.

The inlet section flow may refer to a lane flow of a predetermined distance on an inlet side of the lane, and the outlet section flow may refer to a lane flow of a predetermined distance on an outlet side of the lane. As shown in fig. 2, for the lane a in the road 1, the side entering the lane a in the vehicle traveling direction is an entrance section, and the side exiting the lane a in the vehicle traveling direction is an exit section. Alternatively, the entrance of the lane a may be used as a starting position, the vehicle traveling direction of the entrance along the lane a may be used as an ending position, and the lane between the starting position and the ending position may be used as an entrance section. Alternatively, the exit section of the lane B aligned with the direction of the lane a on the road 2 passing directly over the road 1 may be used as the entrance section of the lane a.

As an example of the present disclosure, the lane change information of the vehicle may also be determined according to the navigation direction of the vehicle in the road, for example, the navigation of the vehicle in the road may be pre-estimated, and the possibility and direction of lane change may be calculated according to the navigation direction to obtain the lane change information. Based on the lane change information, the entrance flow rate and the exit flow rate of each lane can be obtained. The entry flow rate is a flow rate for entering the own lane from another lane, and the exit flow rate is a flow rate for entering the other lane from the own lane. Based on the entrance flow and the exit flow, the estimated change flow can be adjusted, and the specific adjustment process is not repeated. Therefore, a more accurate estimated change process can be obtained.

In step S130, a lane change strategy is determined based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy includes position information of the lane change lane and guidance information for assisting the lane change.

As an example, the average existing lane flow and the average predicted lane flow of the lanes in two different vehicle driving directions in the road may be first counted. The average existing lane flow rate may be an average value of existing lane flow rates of all lanes in the same vehicle driving direction, or an average value obtained by a weighted summation manner, wherein the weight coefficient may be adjusted according to the lanes. The average predicted lane flow may be an average of predicted lane flows of all lanes in the same vehicle driving direction, or an average obtained by a weighted summation manner, wherein the weight coefficient may be adjusted according to the lanes. The estimated lane flow is an estimated result of the next lane flow obtained based on the current lane flow and the estimated change flow, for example, the estimated result of the lane flow in the next traffic light period. Taking a bidirectional four-lane road as an example, the average value of the existing lane flow of two lanes in the same direction can be obtained to obtain the average existing lane flow of the lane in the direction; and the average value of the estimated lane flow of the two lanes in the same direction can be obtained to obtain the average estimated lane flow of the lane in the direction.

And determining a lane change strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in the two different vehicle driving directions. For example, a lane-change strategy may be generated in case the difference in the average existing lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold; the lane change strategy can also be generated under the condition that the difference of the average estimated lane flow of the lanes in the two different vehicle driving directions is greater than a preset threshold value; the lane change strategy can also be generated under the condition that the difference of the average existing lane flow and the difference of the average estimated lane flow of the lanes in the two different vehicle driving directions are both larger than a preset threshold value.

In the present disclosure, the lane change strategy may include position information of a lane change lane and guide information for assisting the lane change. The position information of the lane change lane may include a lane to be changed and a lane change range. The lane change range can be determined according to actual conditions, and can be the whole lane or a part of the lane. The guidance information may include, but is not limited to, lane change preparation time, effective time period, guidance vehicle speed, corresponding traffic light time period, and road sign update information. The lane change preparation time can be obtained by adjusting the lane speed, the period of traffic lights and the empirical value. The effective duration can be the actual limit duration for actually finishing lane changing of the vehicle, the guiding vehicle speed can be the driving speed required by the vehicle for realizing lane changing, and the effective duration and the guiding vehicle speed can be calculated according to the estimated flow and the traffic light duration period. The road sign updating mainly means that the guideboard is supplemented to the existing traffic conditions, such as further stipulation of a vehicle speed range.

According to the lane changing method and device, the existing lane flow of each lane in the road is counted, the traffic flow change condition of the lanes is estimated, real-time dynamic lane-level traffic flow data can be obtained, analysis is carried out based on the real-time traffic flow data, a lane changing strategy capable of meeting the current requirements can be obtained, the existing road resources can be fully utilized, and the purpose of real-time regulation and control is achieved.

Implementation of the lane change method of the present disclosure requires a precondition for data acquisition. By way of example, vehicle information of vehicles in a road and/or roadside information of the road may be acquired, and statistics of flow rates of various lanes in the road and prediction of flow rate change conditions of various lanes in the road may be achieved based on the acquired vehicle information and/or roadside information. The vehicle information may include body information (e.g., size, speed, acceleration, etc.), position navigation, driving records (e.g., driving speed, driving route), belonging lane (optional), and the like. The roadside information may include road information and/or photographed road image information. The vehicle information may be obtained from a vehicle and the roadside information may be obtained from a roadside RSU. For example, the vehicle may transmit vehicle information of itself to the roadside RSU through the vehicle OBU via V2X, and the roadside RSU may output the collected vehicle information to the server in combination with the roadside information of itself. After receiving the data, the server may execute the lane change method of the present disclosure to generate a lane change policy.

The process of the lane change strategy obtained for a single road in the present disclosure is now described. By using the scheme of the disclosure, lane change decisions of a plurality of roads in the predetermined area can be obtained, and each lane change decision can be adjusted with the aim of improving the overall traffic environment (i.e. relieving the overall traffic pressure) in the predetermined area. For example, the lane change strategies of multiple roads may be integrated and simulated to calculate the overall flow rate and vehicle speed variation in a predetermined area (certain weighting may be performed, for example, more weighting may be given to a main road and a special channel), and each lane change strategy may be adjusted based on the calculation result. For example, each lane change strategy can be finely adjusted and gradually fitted to obtain an optimal solution of the whole area, and meanwhile, the lane change strategy of each road is the final decision in the overall optimal solution.

After determining the lane change strategy, vehicles in the road that need to be changed may be notified to prompt the vehicles to execute according to the corresponding lane change strategy. For example, a vehicle in the road that needs to be lane-changed may be determined first, and then guidance information in the lane-changing decision may be sent to the vehicle that needs to be lane-changed, such as information about lane-changing preparation time, effective duration, guidance vehicle speed, and the like may be notified to the vehicle, so that the driver can complete the lane-changing operation according to the information. And when the situation that the vehicle does not run according to the lane change strategy is detected, a prompt can be sent to the vehicle, or the running direction of the vehicle can be corrected, or the vehicle can be directly controlled to stop when the situation is serious.

In addition, after the lane change strategy is determined, road side information of the road can be changed based on the lane change strategy, wherein the road side information can comprise one or more of road information, road identification and traffic light switching time. Thus, the other vehicle can refer to the updated roadside information during traveling.

So far, a detailed description is made of a specific implementation flow of the lane changing method of the present disclosure with reference to fig. 1 and 2. The method can be realized as a V2X-based lane change scheme which can be dynamically updated in real time, can be used for tidal roads and automatic adjustment of urban roads, and can achieve low-cost, rapid and globally optimized adjustment of traffic lane change based on the method.

[ ROAD ISOLATION METHOD ]

The present disclosure can also be implemented as a road isolation scheme that can quickly arrange an electronic isolation area (electronic isolation zone) to ensure safety.

FIG. 3 is a schematic flow chart diagram illustrating a road isolation method according to an embodiment of the present disclosure. The method disclosed herein may be executed by a server, for example, may be executed by a cloud or a program deployed on a road-side RSU.

Referring to fig. 3, in step S310, a lane-change strategy is generated in response to an isolation instruction for a predetermined lane range in a road.

The isolation instruction for isolating the accident range can be generated under the condition that the road has an emergency (such as a traffic accident), and the isolation instruction for the preset lane range can also be generated in other scenes needing isolation.

The lane-change policy generated based on the isolation instruction may include position information of a predetermined lane range and guide information for assisting the lane change. The guidance information may include, but is not limited to, lane change preparation time, effective time, guidance vehicle speed, corresponding traffic light time, and road sign update information. The lane change preparation time can be obtained by adjusting the lane speed, the period of traffic lights and the empirical value. The effective duration can be the actual limit duration for actually finishing lane changing of the vehicle, the guiding vehicle speed can be the driving speed required by the vehicle for realizing lane changing, and the effective duration and the guiding vehicle speed can be calculated according to the estimated flow and the traffic light duration period. The road sign updating mainly means that the guideboard is supplemented to the existing traffic conditions, such as further stipulation of a vehicle speed range.

In step S320, guidance information is transmitted to the vehicle located within the predetermined lane range to guide the vehicle to travel out of the predetermined lane range. Thereby, a lane isolation zone can be quickly arranged. In addition, road side information of the road can be changed based on the lane change strategy, wherein the road side information can comprise one or more of road information, road identification and traffic light switching time. Therefore, other vehicles can actively avoid the arranged isolation area based on the updated roadside information during the driving process.

[ application example ]

Fig. 4 is an implementation flowchart illustrating a lane change method according to an embodiment of the present disclosure. Among them, the lane change program may be regarded as a program capable of executing the lane change method of the present disclosure. The system can be deployed on a vehicle, and also can be deployed on other ends such as a server end, a roadside RSU, a traffic police mobile phone and the like.

Referring to fig. 4, the vehicle may transmit vehicle information such as its own body information (e.g., size, speed, acceleration, etc.), position navigation, travel record, belonging lane, etc., to the roadside RSU through the OBU via V2X. The roadside RSU may combine the collected vehicle information with the road information of itself and the graphic information collected by the camera and output the combined information to the lane change program. The lane to which the vehicle belongs is selectable, can be calculated locally through data such as a GPS, inertial guidance, map and road information, driving records and the like, and can also be obtained through image or radar identification and scanning; but may also be derived in other ways. When the lane change program is deployed at the cloud, the roadside RSU may transmit data to the cloud server in a wired network or a mobile network or the like.

After acquiring the data, the lane change program may execute the lane change method of the present disclosure to derive a lane change strategy. As shown in fig. 4, the lane change program may receive data of multiple RSUs on the road side, obtain a lane change policy of multiple roads, and obtain a final lane change decision of each road through comprehensive adjustment. The road side RSU may take the corresponding final lane change decision through the transmission mode of V2X, and change the information (if necessary) provided by the RSU, including road information, road identification, traffic light switching duration, etc. And the roadside RSU can also broadcast partial information required by the vehicle in the final lane change decision through V2X, wherein the partial information comprises the position, the range and the direction of a lane, the position information of the lane change, lane change preparation time, the range, effective duration, the guiding vehicle speed, the duration of corresponding traffic lights and the like. After obtaining the broadcast information through V2X, the vehicle OBU may calculate the belonging lane if the belonging lane has not been calculated before.

After determining the lane information, whether the lane information belongs to a lane change range can be calculated again, and if the lane information belongs to the lane change range, the lane change information can prompt a user to complete lane change work or automatically change lanes in aspects of ADAS (Advanced Driver assistance Systems) and the like within lane change preparation time according to a lane change strategy.

In lane change preparation time, all vehicles needing lane change finish lane change and confirm in two ways: either an acknowledgement is complete or an alarm is not complete. If the vehicle is not confirmed, the lane change is postponed, the vehicle state is confirmed, and if the vehicle is not abnormal, all the processes are reported and carried out again. If the vehicle is abnormal, reporting the abnormal state, and carrying out all the processes again except the lane change range of the vehicle lane.

After all vehicles complete lane change, the vehicles can travel based on the new road specifications according to the guiding vehicle speed. The system can monitor in real time in the whole driving process, and once the driving of the vehicle is found to possibly deviate from the specified direction and range of the lane, the in-vehicle reminding is carried out; if approaching, emergency measures may be taken, including correcting directions or controlling parking.

In summary, the method can accurately and comprehensively acquire traffic flow, vehicle speed and other information of the lane at low cost in real time based on V2X, and calculate and implement the global optimal lane change solution according to sufficient information acquired by V2X. And the system can be applied to schemes of setting a no-parking area or a no-driving/limited driving area and the like, and the area range is updated by the server, so that the V2X vehicle is monitored.

[ Lane changer ]

Fig. 5 is a schematic block diagram illustrating a structure of a lane change apparatus according to an embodiment of the present disclosure. Wherein the functional modules of the lane changing device may be implemented by hardware, software, or a combination of hardware and software that implements the principles of the present invention. It will be appreciated by those skilled in the art that the functional blocks described in fig. 5 may be combined or divided into sub-blocks to implement the principles of the invention described above. Thus, the description herein may support any possible combination, or division, or further definition of the functional modules described herein.

In the following, a brief description is given of functional modules that the lane changing device may have and operations that each functional module may perform, and for details related thereto, reference may be made to the above description of the road isolation method, which is not repeated herein.

Referring to fig. 5, the lane changing device 500 includes a first statistical module 510, a first prediction module 520, and a strategy determination module 530.

The first statistical module 510 is configured to perform statistics on traffic of each lane in a road to obtain an existing traffic of each lane. The first estimation module 520 is used for estimating the traffic variation of each lane in the road to obtain the estimated variation of each lane. The strategy determination module 530 is configured to determine a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, where the lane change strategy includes position information of a lane change lane and guidance information for assisting lane change. The guidance information may include one or more of lane change preparation time, effective time, guidance vehicle speed, corresponding traffic light time, and road sign update information. The road mentioned in the present disclosure may be a road with a variable vehicle driving direction of a lane, such as a tidal road.

As one example of the present disclosure, as shown in fig. 6, the first statistical module 510 may include a lane analysis module 511 and a lane flow determination module 512. The lane analysis module 511 may be used to analyze lane information to which the vehicle belongs. The lane flow determination module 512 is configured to determine an existing lane flow of each lane based on the lane information to which the vehicle belongs.

As shown in fig. 5, the lane change device 500 may optionally include a first information acquisition module 540 and/or a second information acquisition module 545, which are indicated by dashed boxes in the figure. The first information obtaining module 540 is configured to obtain vehicle information of vehicles in a road, and the second information obtaining module 545 is configured to obtain roadside information of the road, where the roadside information includes road information and/or captured road image information. The first statistical module 510 may count the traffic of each lane in the road based on the vehicle information and/or the roadside information, and/or the first estimation module 520 may estimate the traffic change of each lane in the road based on the vehicle information and/or the roadside information.

As an example of the present disclosure, as shown in fig. 7, the first prediction module 520 may include a third statistics module 521, a fourth statistics module 522, and a variation flow prediction module 523. The third statistical module 521 is configured to perform statistics on lane speeds of lanes in the road, the fourth statistical module 522 is configured to perform statistics on inlet section flows and outlet section flows of the lanes, and the traffic flow prediction module 523 is configured to obtain predicted traffic flow of each lane based on the lane speeds, the inlet section flows, the outlet section flows and traffic light duration information.

As shown in fig. 7, the first prediction module 520 may further include a lane change information determination module 524, a flow determination module 525, and a first adjustment module 526. The lane change information determining module 524 is configured to determine lane change information of the vehicle according to a navigation direction of the vehicle on the road. The traffic determination module 525 is configured to obtain an entrance traffic and an exit traffic of each lane based on the lane change information. The first adjusting module 526 is configured to adjust the estimated variation flow rate based on the entrance flow rate and the exit flow rate.

As one example of the present disclosure, as shown in fig. 8, the policy determination module 530 may include a fifth statistics module 531 and a policy determination sub-module 532. The fifth statistical module 531 is configured to perform statistics on average existing lane flow and average estimated lane flow of lanes in two different driving directions of the vehicle on the road. The strategy determination submodule 532 is used for determining a lane change strategy according to the difference of the average existing lane flow and/or the average estimated lane flow of the lanes in two different vehicle driving directions. The strategy determination sub-module 532 may generate the lane change strategy if the difference between the average existing lane flow and/or the average predicted lane flow of the lanes in different driving directions of the vehicle is greater than a predetermined threshold.

As an example of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a strategy acquisition module 550 and a second adjustment module 560 shown by dashed boxes in the figure. The strategy acquiring module 550 is configured to acquire lane change decisions of a plurality of roads in a predetermined area. A second adjustment module 560 is configured to adjust each of the lane change decisions with the goal of improving the overall traffic environment within the predetermined area. Optionally, the second adjusting module 560 may include an arithmetic module and a second adjusting sub-module (not shown in the figure). The operation module can be used for carrying out integrated simulation calculation on the lane change decisions of the roads so as to calculate the overall flow and the vehicle speed change condition in the preset area. A second adjustment submodule may be configured to adjust each of the lane change decisions based on the calculation.

As one example of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a vehicle determination module 570 and a transmission module 580, which are shown by dotted line boxes in the figure. The vehicle determination module 570 is used for determining vehicles in the road needing lane change. The sending module 580 is configured to send the guidance information to the vehicle that needs to make a lane change.

As an example of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include an information change module 590 shown by a dotted line box in the figure. The information changing module 590 is configured to change road side information of the road based on the lane change policy, where the road side information includes one or more of road information, road identifier, and traffic light switching duration.

As an example of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a control module 595 shown by a dotted line box in the figure. The control module 595 is configured to send a prompt to the vehicle, or correct a driving direction of the vehicle, or control to stop the vehicle when it is detected that the vehicle does not drive according to the lane change policy.

[ ROAD ISOLATION DEVICE ]

Fig. 9 is a schematic block diagram illustrating the structure of a road isolation device according to an embodiment of the present disclosure. Wherein the functional modules of the road isolation device may be implemented by hardware, software or a combination of hardware and software implementing the principles of the present invention. It will be appreciated by those skilled in the art that the functional blocks depicted in fig. 9 may be combined or divided into sub-blocks to implement the inventive principles described above. Thus, the description herein may support any possible combination, or division, or further definition of the functional modules described herein.

In the following, functional modules that the road isolation device may have and operations that each functional module may perform are briefly described, and for details related thereto, reference may be made to the above description of the road isolation method, and details are not repeated here.

Referring to fig. 9, the road isolation apparatus 900 includes a policy generation module 910 and a transmission module 920.

The strategy generation module 910 is configured to generate a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy includes position information of the predetermined lane range and guidance information for assisting lane change. The sending module 920 is configured to send the guidance information to a vehicle located in the predetermined lane range to guide the vehicle to move away from the predetermined lane range.

As shown in fig. 9, the road isolation device 900 may also optionally include a modification module 930 shown in phantom. The modifying module 930 is configured to modify road side information of the road based on the lane change policy, where the road side information includes one or more of road information, road identifier, and traffic light switching duration.

[ calculating device ]

Fig. 10 shows a schematic structural diagram of a computing device for data processing that can be used to implement the lane change method or the road isolation method described above according to an embodiment of the present disclosure.

Referring to fig. 10, the computing device 1000 includes a memory 1010 and a processor 1020.

The processor 1020 may be a multi-core processor or may include multiple processors. In some embodiments, processor 1020 may include a general-purpose host processor and one or more special purpose coprocessors such as a Graphics Processor (GPU), digital Signal Processor (DSP), or the like. In some embodiments, processor 1020 may be implemented using custom circuits, such as an Application Specific Integrated Circuit (ASIC) or a Field Programmable Gate Array (FPGA).

The memory 1010 may include various types of storage units, such as system memory, read Only Memory (ROM), and a persistent storage device. Wherein the ROM may store static data or instructions that are needed by the processor 1020 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. Further, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, among others. In some embodiments, memory 1010 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, dual layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., SD card, min SD card, micro-SD card, etc.), a magnetic floppy disc, or the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.

The memory 1010 has stored thereon executable code that, when executed by the processor 1020, may cause the processor 1020 to perform the lane changing method or the road isolating method described above.

The lane change and road isolation method, apparatus, device and storage medium according to the present invention have been described above in detail with reference to the accompanying drawings.

Furthermore, the method according to the invention may also be implemented as a computer program or computer program product comprising computer program code instructions for carrying out the above-mentioned steps defined in the above-mentioned method of the invention.

Alternatively, the invention may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or computing device, server, etc.), causes the processor to perform the steps of the above-described method according to the invention.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A lane change method, comprising:

counting the traffic of each lane in a road to obtain the current traffic of each lane, wherein the road is a road with variable vehicle driving directions of the lanes;

predicting the traffic change condition of each lane in the road to obtain the predicted change traffic of each lane; and

determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises position information of a lane change lane and guide information for assisting lane change, and the position information of the lane change lane comprises a lane to be changed and a lane change range.

2. The lane change method according to claim 1, wherein the step of counting traffic of each lane in the road comprises:

analyzing the lane information of the vehicle; and

and determining the existing lane flow of each lane based on the lane information to which the vehicle belongs.

3. The lane change method according to claim 1, further comprising:

acquiring vehicle information of vehicles in a road; and/or

And acquiring roadside information of the road, wherein the roadside information comprises road information and/or road image information obtained by shooting.

4. The lane change method according to claim 3,

the step of counting the flow of each lane in the road comprises the following steps: counting the flow of each lane in the road based on the vehicle information and/or the roadside information, and/or

The step of predicting the traffic change condition of each lane in the road comprises the following steps: and predicting the traffic change condition of each lane in the road based on the vehicle information and/or the roadside information.

5. The method of claim 1, wherein the step of predicting the traffic change of each lane in the road comprises:

counting lane speeds of all lanes in the road;

respectively counting the inlet section flow and the outlet section flow of each lane; and

and obtaining the estimated change flow of each lane based on the lane speed, the inlet section flow, the outlet section flow and the traffic light duration information.

6. The method of claim 5, wherein the step of predicting the traffic change of each lane in the road further comprises:

determining lane change information of the vehicle according to the navigation direction of the vehicle in the road;

obtaining the entrance flow and the exit flow of each lane based on the lane change information; and

and adjusting the estimated change flow based on the entrance flow and the exit flow.

7. The lane change method of claim 1, wherein the step of determining a lane change strategy comprises:

counting the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in the road;

and determining a lane change strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in two different vehicle driving directions.

8. The lane change method according to claim 7,

and generating a lane change strategy when the difference of the average existing lane flow and/or the average estimated lane flow of the lanes in the two different vehicle driving directions is larger than a preset threshold value.

9. The lane change method of claim 1, wherein the guidance information comprises one or more of:

lane change preparation time;

an effective time length;

guiding the vehicle speed;

corresponding to the duration of the traffic light; and

and updating information of the road identification.

10. The lane change method according to claim 1, further comprising:

obtaining lane change decisions of a plurality of roads in a preset area;

adjusting each of the lane change decisions with a goal of improving the overall traffic environment within the predetermined area.

11. The method of lane changing according to claim 10, wherein the step of adjusting each of the lane change decisions comprises:

performing integrated simulation calculation on the lane change decisions of the roads to calculate the overall flow and the vehicle speed change condition in the preset area;

adjusting each lane change decision based on the calculation result.

12. The lane change method according to claim 1, further comprising:

determining vehicles needing lane changing in the road; and

and sending the guiding information to the vehicle needing to change lanes.

13. The lane change method according to claim 1, further comprising:

and changing road side information of the road based on the lane change strategy, wherein the road side information comprises one or more of road information, road identification and traffic light switching time.

14. The lane change method according to claim 1, further comprising:

and sending a prompt to the vehicle, or correcting the driving direction of the vehicle, or controlling the vehicle to stop when the vehicle is detected not to drive according to the lane change strategy.

15. A method of road isolation, comprising:

generating a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the road is a road in which a vehicle driving direction of a lane is variable, and the lane change strategy comprises position information of the predetermined lane range and guide information for assisting lane change; and

and sending the guiding information to the vehicle positioned in the preset lane range so as to guide the vehicle to move away from the preset lane range.

16. The method of road isolation of claim 15, further comprising: and changing road side information of the road based on the lane change strategy, wherein the road side information comprises one or more of road information, road identification and traffic light switching time.

17. A lane change device, comprising:

the first statistical module is used for counting the flow of each lane in a road to obtain the current lane flow of each lane, wherein the road is a road with variable vehicle driving directions of the lanes;

the first estimation module is used for estimating the traffic change condition of each lane in the road to obtain the estimated change traffic of each lane; and

and the strategy determining module is used for determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises the position information of a lane change lane and the guide information for assisting the lane change, and the position information of the lane change lane comprises the lane to be changed and the lane change range.

18. A road isolation device, comprising:

the system comprises a strategy generation module, a lane change strategy generation module and a lane change control module, wherein the strategy generation module is used for responding to an isolation instruction aiming at a preset lane range in a road, the road is a road with a variable vehicle driving direction of lanes, and the lane change strategy comprises position information of the preset lane range and guide information for assisting lane change; and

and the sending module is used for sending the guiding information to the vehicle positioned in the preset lane range so as to guide the vehicle to drive away from the preset lane range.

19. A computing device, comprising:

a processor; and

a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method of any one of claims 1 to 16.

20. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-16.