CN111071254A - Automobile safety system for automatic lane changing and working method thereof - Google Patents
Automobile safety system for automatic lane changing and working method thereof Download PDFInfo
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- CN111071254A CN111071254A CN202010045822.7A CN202010045822A CN111071254A CN 111071254 A CN111071254 A CN 111071254A CN 202010045822 A CN202010045822 A CN 202010045822A CN 111071254 A CN111071254 A CN 111071254A
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- 238000000605 extraction Methods 0.000 claims abstract description 8
- 230000010365 information processing Effects 0.000 claims description 9
- 238000011017 operating method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 230000004397 blinking Effects 0.000 description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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Abstract
A car safety system for automatic lane changing and a working method thereof comprise: the front tail lamp acquisition module is used for acquiring a first image of a tail lamp of a vehicle right ahead; a front vehicle steering lamp extraction module for extracting left and right steering lamps of a vehicle right in front; a rear headlight acquiring module for acquiring a second image of a headlight of a vehicle right behind; a rear vehicle steering lamp extraction module for extracting left and right steering lamps of a vehicle right behind; a turn signal acquisition module that acquires a turn signal state of the vehicle; the first judgment module is used for judging whether a steering lamp of a vehicle right in front is in a flashing state; a second judging module for judging whether the steering lamp is a single steering lamp; a third judging module for judging whether the steering lamp of the automobile right behind is in a flashing state; a fourth judging module for judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle; the locking module locks the direction changing lane which can not be indicated by the automobile to the steering lamp; and the lane changing module allows the automobile to change lanes in the direction indicated by the steering lamp.
Description
Technical Field
The invention relates to the field of automobile safety systems, in particular to an automobile safety system for automatic lane changing and a working method thereof.
Background
Along with the continuous promotion of car reserves, the car on the road also increases thereupon, and road resources is limited again, and when the car driver was driven slowly before, back car driver can whistle and urge, and this just leads to with the car distance constantly reducing, like this when the car that is located same lane changes the lane simultaneously, because the interval undersize of preceding back car, the driver of preceding back car is too late to react and easily leads to the rear-end collision accident.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an automobile safety system for automatic lane changing and a working method thereof, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
an automotive safety system for automatic lane changing comprising an information acquisition subsystem and an information processing subsystem, the information acquisition subsystem comprising:
the front tail lamp acquisition module is arranged right in front of the automobile and is configured to acquire a first image comprising a right front automobile tail lamp;
the front vehicle steering lamp extraction module is configured to extract a left steering lamp and a right steering lamp of a vehicle right in front according to the first image;
the rear headlamp acquisition module is arranged right behind the automobile and is configured to acquire a second image comprising a right-behind automobile headlamp;
the rear vehicle steering lamp extraction module is configured to extract a left steering lamp and a right steering lamp of a vehicle right behind according to the second image;
a turn signal acquisition module configured to acquire a turn signal state of a host vehicle, the turn signal state including at least two different states;
the information processing subsystem includes:
the device comprises a first judgment module, a second judgment module and a control module, wherein the first judgment module is configured to judge whether a steering lamp of a vehicle right in front is in a flashing state;
the second judging module is configured to judge whether the steering lamp in the flashing state is a single steering lamp;
the third judging module is configured to judge whether a steering lamp of the automobile right behind is in a flickering state;
the fourth judging module is configured to judge whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle;
a locking module configured to lock a direction change lane in which the automobile cannot indicate to the turn signal;
and the lane changing module is configured to allow the automobile to change lanes in the direction indicated by the steering lamp.
As a preferred mode of the present invention, the information obtaining sub-module further includes:
the first timing module is configured to calculate first time for flickering of a steering lamp of a vehicle right in front;
and the second timing module is configured to calculate a second time when the automobile steering lamp behind flickers.
As a preferred aspect of the present invention, the information processing sub-module further includes:
a fifth judging module configured to judge whether the first time is greater than or equal to a preset time;
a sixth determining module configured to determine whether the second time is greater than or equal to a preset time.
As a preferred aspect of the present invention, the information acquiring subsystem further includes:
the first distance measurement module is configured to acquire a first distance between a vehicle right in front of the lane change and the vehicle;
and the second distance measurement module is configured to acquire a second distance between the vehicle directly behind and the host vehicle after the lane change is finished.
As a preferred aspect of the present invention, the information processing subsystem further includes:
a seventh judging module configured to judge whether the first distance is greater than or equal to a preset distance;
an eighth determining module configured to determine whether the second distance is greater than or equal to a preset distance.
An operating method for a safety system of a vehicle for automatic lane change, comprising the following operating steps:
s101: acquiring a first image including a tail lamp of a vehicle right ahead;
s102: extracting a left steering lamp and a right steering lamp of a vehicle right in front according to the first image;
s103: judging whether a steering lamp of a vehicle right in front is in a flashing state;
s104: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s105: acquiring a second image including a headlight of a right-rear automobile;
s106: extracting a left steering lamp and a right steering lamp of the automobile right behind according to the second image;
s107: judging whether a steering lamp of an automobile right behind is in a flashing state;
s108: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s109: acquiring the state of a steering lamp of the vehicle;
s110: judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle;
s111: if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
s112: if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
As a preferred embodiment of the present invention, S111 further includes:
if the single turn signal lamp is used, calculating the first time of the front automobile turn signal lamp flickering;
and if the single turn signal lamp is used, calculating the second time for the turn signal lamp of the automobile right behind to flicker.
As a preferred embodiment of the present invention, the present invention further comprises:
judging whether the first time and the second time are both greater than or equal to a preset time;
if yes, judging whether the automobile in front of the automobile or the automobile behind the automobile starts changing lanes or not;
if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
As a preferred embodiment of the present invention, the present invention further comprises:
acquiring a first distance between a vehicle right in front of the lane change and the vehicle;
and acquiring a second distance between the vehicle right behind the lane change and the vehicle.
As a preferred embodiment of the present invention, the present invention further comprises:
judging whether the first distance or the second distance is greater than or equal to a preset distance;
if yes, allowing the automobile to change the lane to the direction indicated by the steering lamp;
if not, the locked automobile can not change the lane to the direction indicated by the steering lamp.
The invention realizes the following beneficial effects:
during driving, recognizing tail lamps of a vehicle in front of the vehicle and front lamps of a vehicle behind the vehicle, and locking the direction lane change of the vehicle which cannot be indicated by the steering lamps when the vehicle in front of the vehicle or the vehicle behind the vehicle starts the single steering lamp before the vehicle and the single steering lamp is in the same state as the steering lamp of the vehicle, so as to avoid the vehicles on the same lane changing to the same direction at the same time; and timing the flashing state of the turn lights which are turned on for the front automobile or the rear automobile while locking, and allowing the automobile to change lanes in advance if the flashing time is greater than or equal to the preset time and the front automobile or the rear automobile does not start changing lanes.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of a method for operating a safety system of an automobile for automatic lane change according to the present invention.
FIG. 2 is a flow chart of a lane-changing method based on flash time according to the present invention.
FIG. 3 is a flow chart of a distance-based lane-changing method provided by the present invention.
Fig. 4 is a block diagram of a car security system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1, the present embodiment provides an operating method of an automobile safety system for automatic lane change, which includes the following steps:
s101: acquiring a first image including a tail lamp of a vehicle right ahead;
s102: extracting a left steering lamp and a right steering lamp of a vehicle right in front according to the first image;
s103: judging whether a steering lamp of a vehicle right in front is in a flashing state;
s104: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s105: acquiring a second image including a headlight of a right-rear automobile;
s106: extracting a left steering lamp and a right steering lamp of the automobile right behind according to the second image;
s107: judging whether a steering lamp of an automobile right behind is in a flashing state;
s108: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s109: acquiring the state of a steering lamp of the vehicle;
s110: judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle;
s111: if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
s112: if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
Specifically, in S101, when the vehicle is in a normal driving state, it is first determined whether there is a vehicle in a driving state immediately ahead within three meters of the vehicle, and if there is a vehicle in a driving state, a first image including taillights of the vehicle immediately ahead is acquired.
In S102, the first image is recognized, a left steering lamp and a right steering lamp of the automobile right in front are extracted, and the left steering lamp and the right steering lamp are monitored in real time.
In S103, it is determined whether the left turn light or the right turn light is in a blinking state.
The turn signal lamp can be turned on when the automobile needs to turn, the hazard warning flash lamp can be turned on when the automobile is in a fault, the turn signal lamp can be turned on at the same time, the difference lies in that the turn signal lamp in one direction can be turned on only when the automobile turns, the turn signal lamps in the left and right can be turned on simultaneously when the hazard warning flash lamp is turned on, and in S104, if the flash lamp flashes, whether the turn signal lamp in a flashing state of the automobile in the front is a single turn signal lamp or not is judged, namely whether the turn signal lamp in one direction is turned on by the automobile in the front.
In S105, it is determined whether or not there is a vehicle in a traveling state right behind the host vehicle within three meters, and if there is a vehicle in a traveling state right behind the host vehicle, a second image including a headlight of the vehicle right behind is acquired.
In S106, the second image is recognized, a left steering lamp and a right steering lamp of the automobile right behind are extracted, and the left steering lamp and the right steering lamp are monitored in real time.
In S107, it is determined whether or not the left winkers and the right winkers are in a blinking state.
In S108, if the flashing occurs, it is determined whether the turn signal lamp of the front and rear automobiles in the flashing state is a single turn signal lamp, that is, whether the front and rear automobiles have only turned on the turn signal lamp in one direction.
In S109, when the user dials the steering lever of the vehicle, the turn signal status of the vehicle is obtained, which includes a left turn status and a right turn status.
In S110, if the vehicle in front or the vehicle behind turns on a single turn signal, it is determined whether the turn signal state of the vehicle matches the turn signal state of the vehicle in front or the vehicle behind, and the following two comparison cases are present: firstly, judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle right ahead; and secondly, judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle right behind.
In S111, the determination result includes the following four cases: firstly, the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front and is inconsistent with the state of the steering lamp of the vehicle in back; secondly, the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle right behind and inconsistent with the state of the steering lamp of the vehicle right ahead; thirdly, the steering lamp of the automobile is consistent with the steering lamps of the automobile right in front and the automobile right behind; and fourthly, the state of the steering lamp of the automobile is inconsistent with the states of the steering lamps of the automobile in front of the automobile and the automobile behind the automobile, wherein the states of the steering lamps of the automobile in front of the automobile or the automobile behind the automobile can be in an off state, and if the states are the first three cases, the automobile is locked and the direction of the automobile which cannot be indicated by the steering lamps of the automobile is changed.
In S112, in the fourth case, the vehicle is allowed to turn in the direction indicated by the turn signal of the vehicle.
Example two
As shown in fig. 2, S111 further includes:
if the single turn signal lamp is used, calculating the first time of the front automobile turn signal lamp flickering;
and if the single turn signal lamp is used, calculating the second time for the turn signal lamp of the automobile right behind to flicker.
Judging whether the first time and the second time are both greater than or equal to a preset time;
if yes, judging whether the automobile in front of the automobile or the automobile behind the automobile starts changing lanes or not;
if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
Specifically, when the state of a single steering lamp of the automobile in front is detected to be the same as the state of the steering lamp of the automobile, timing is started, and the first time for flickering of the steering lamp of the automobile in front is calculated; and when detecting that the state of the single steering lamp of the automobile right behind is the same as the state of the steering lamp of the automobile, starting timing and obtaining the second time for the steering lamp of the automobile right behind to flicker.
The system is internally provided with a preset time, and the preset time is used for judging whether the vehicle can change lanes under the condition that a vehicle right ahead or a vehicle right behind turns on a single steering lamp in a state consistent with the steering lamp of the vehicle.
Firstly, judging whether the first time and the second time are both greater than or equal to a preset time, wherein the judgment result comprises the following four conditions: firstly, the first time is greater than or equal to a preset time, and the second time is less than the preset time; secondly, the second time is greater than or equal to a preset time, and the first time is less than the preset time; thirdly, the first time and the second time are both less than a preset time; and fourthly, the first time and the second time are both greater than or equal to the preset time.
When the first time or the second time may be zero, the first time or the second time judged to be zero is omitted, for example, when the first time is zero, the judgment result includes the following two cases: firstly, the second time is greater than or equal to the preset time; and secondly, the second time is less than the preset time.
If the three conditions are the first three conditions, timing is continued; if the situation is the fourth situation, whether the automobile in front of or behind the automobile starts changing lanes or not is judged, if the automobile starts changing lanes, the automobile is locked, the automobile cannot change lanes in the direction indicated by the steering lamp, and if the automobile does not start changing lanes, the automobile is allowed to change lanes in the direction indicated by the steering lamp.
EXAMPLE III
As shown in fig. 3, a first distance between the vehicle directly in front of the lane change and the vehicle is acquired;
and acquiring a second distance between the vehicle right behind the lane change and the vehicle.
Judging whether the first distance or the second distance is greater than or equal to a preset distance;
if yes, allowing the automobile to change the lane to the direction indicated by the steering lamp;
if not, the locked automobile can not change the lane to the direction indicated by the steering lamp.
Specifically, if the lane change of the vehicle is started before the vehicle, the vehicle waits for the lane change of the vehicle before the vehicle is changed.
If there is no vehicle immediately ahead of the lane change, the first distance is zero, and if there is no vehicle immediately behind the lane change, the second distance is zero, and the zero first distance or second distance does not affect the lane change of the host vehicle.
Whether the first distance or the second distance is greater than or equal to the preset distance is judged, for example, if the first distance is zero, only whether the second distance is greater than or equal to the preset distance is needed to be judged.
Example four
As shown in fig. 4, an automobile safety system for automatic lane change includes:
a front tail lamp acquiring module 401, disposed right in front of the automobile, configured to acquire a first image including a front automobile tail lamp;
a front car turn light extraction module 402 configured to extract a left turn light and a right turn light of a car right in front according to the first image;
a rear headlight acquiring module 403, disposed right behind the automobile, configured to acquire a second image including a headlight of the automobile right behind;
a rear car turn light extraction module 404 configured to extract a left turn light and a right turn light of a car right behind from the second image;
a turn signal acquisition module 405 configured to acquire a turn signal state of the host vehicle, the turn signal state including at least two different states;
the information processing subsystem includes:
a first determination module 406 configured to determine whether a turn signal of a vehicle right in front is in a blinking state;
a second determination module 407 configured to determine whether the turn signal in the blinking state is a single turn signal;
a third determination module 408 configured to determine whether a turn signal of a vehicle right behind is in a blinking state;
a fourth determination module 409 configured to determine whether the state of the turn signal of the vehicle is consistent with the state of the turn signal of the vehicle right in front of or behind the vehicle;
a locking module 410 configured to lock a directional lane change that the car cannot indicate to the turn signal;
a lane change module 411 configured to allow the automobile to change lanes in a direction indicated by a turn signal;
a first timing module 412 configured to calculate a first time for a turn signal of a vehicle directly in front to blink;
a second timing module 413 configured to calculate a second time when a turn signal of the vehicle directly behind flashes;
a fifth determining module 414 configured to determine whether the first time is greater than or equal to a preset time;
a sixth determining module 415 configured to determine whether the second time is greater than or equal to a preset time;
a first ranging module 416 configured to acquire a first distance between a vehicle directly in front of the lane change and the host vehicle;
a second ranging module 417 configured to acquire a second distance between the vehicle directly behind and the host vehicle, where lane change is completed;
a seventh determining module 418 configured to determine whether the first distance is greater than or equal to a preset distance;
an eighth determining module 419 configured to determine whether the second distance is greater than or equal to a preset distance.
The system provided in the fourth embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. An automotive safety system for automatic lane changing comprising an information acquisition subsystem and an information processing subsystem, wherein the information acquisition subsystem comprises:
the front tail lamp acquisition module is arranged right in front of the automobile and is configured to acquire a first image comprising a right front automobile tail lamp;
the front vehicle steering lamp extraction module is configured to extract a left steering lamp and a right steering lamp of a vehicle right in front according to the first image;
the rear headlamp acquisition module is arranged right behind the automobile and is configured to acquire a second image comprising a right-behind automobile headlamp;
the rear vehicle steering lamp extraction module is configured to extract a left steering lamp and a right steering lamp of a vehicle right behind according to the second image;
a turn signal acquisition module configured to acquire a turn signal state of a host vehicle, the turn signal state including at least two different states;
the information processing subsystem includes:
the device comprises a first judgment module, a second judgment module and a control module, wherein the first judgment module is configured to judge whether a steering lamp of a vehicle right in front is in a flashing state;
the second judging module is configured to judge whether the steering lamp in the flashing state is a single steering lamp;
the third judging module is configured to judge whether a steering lamp of the automobile right behind is in a flickering state;
the fourth judging module is configured to judge whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle;
a locking module configured to lock a direction change lane in which the automobile cannot indicate to the turn signal;
and the lane changing module is configured to allow the automobile to change lanes in the direction indicated by the steering lamp.
2. A car safety system for automatic lane changing according to claim 1, wherein: the information acquisition sub-module further includes:
the first timing module is configured to calculate first time for flickering of a steering lamp of a vehicle right in front;
and the second timing module is configured to calculate a second time when the automobile steering lamp behind flickers.
3. A car safety system for automatic lane changing according to claim 2, wherein: the information processing sub-module further includes:
a fifth judging module configured to judge whether the first time is greater than or equal to a preset time;
a sixth determining module configured to determine whether the second time is greater than or equal to a preset time.
4. A car safety system for automatic lane changing according to claim 1, wherein: the information acquisition subsystem further comprises:
the first distance measurement module is configured to acquire a first distance between a vehicle right in front of the lane change and the vehicle;
and the second distance measurement module is configured to acquire a second distance between the vehicle directly behind and the host vehicle after the lane change is finished.
5. A car safety system for automatic lane changing according to claim 4, wherein: the information processing subsystem further comprises:
a seventh judging module configured to judge whether the first distance is greater than or equal to a preset distance;
an eighth determining module configured to determine whether the second distance is greater than or equal to a preset distance.
6. An operating method for a safety system of a vehicle for automatic lane change according to any one of claims 1 to 5, comprising the following operating steps:
s101: acquiring a first image including a tail lamp of a vehicle right ahead;
s102: extracting a left steering lamp and a right steering lamp of a vehicle right in front according to the first image;
s103: judging whether a steering lamp of a vehicle right in front is in a flashing state;
s104: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s105: acquiring a second image including a headlight of a right-rear automobile;
s106: extracting a left steering lamp and a right steering lamp of the automobile right behind according to the second image;
s107: judging whether a steering lamp of an automobile right behind is in a flashing state;
s108: if yes, judging whether the steering lamp in the flashing state is a single steering lamp or not;
s109: acquiring the state of a steering lamp of the vehicle;
s110: judging whether the state of the steering lamp of the vehicle is consistent with the state of the steering lamp of the vehicle in front of or behind the vehicle;
s111: if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
s112: if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
7. An operating method for an automatic lane change car safety system according to claim 6, wherein: s111 further includes:
if the single turn signal lamp is used, calculating the first time of the front automobile turn signal lamp flickering;
and if the single turn signal lamp is used, calculating the second time for the turn signal lamp of the automobile right behind to flicker.
8. An operating method for an automatic lane change car safety system according to claim 7, wherein: further comprising:
judging whether the first time and the second time are both greater than or equal to a preset time;
if yes, judging whether the automobile in front of the automobile or the automobile behind the automobile starts changing lanes or not;
if so, locking the direction lane change which cannot be indicated by the automobile to the steering lamp;
if not, the automobile is allowed to change the lane to the direction indicated by the steering lamp.
9. The method of claim 8, wherein the step of operating the automatic lane change car safety system comprises: further comprising:
acquiring a first distance between a vehicle right in front of the lane change and the vehicle;
and acquiring a second distance between the vehicle right behind the lane change and the vehicle.
10. An operating method for an automatic lane change car safety system according to claim 9, wherein: further comprising:
judging whether the first distance or the second distance is greater than or equal to a preset distance;
if yes, allowing the automobile to change the lane to the direction indicated by the steering lamp;
if not, the locked automobile can not change the lane to the direction indicated by the steering lamp.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010045822.7A CN111071254A (en) | 2020-01-16 | 2020-01-16 | Automobile safety system for automatic lane changing and working method thereof |
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| CN202010045822.7A CN111071254A (en) | 2020-01-16 | 2020-01-16 | Automobile safety system for automatic lane changing and working method thereof |
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| CN111717197A (en) * | 2020-06-23 | 2020-09-29 | 中国第一汽车股份有限公司 | Rear collision prevention method and device and vehicle |
| CN114248768A (en) * | 2021-12-06 | 2022-03-29 | 江铃汽车股份有限公司 | Vehicle information interaction method and device, storage medium and vehicle |
| CN114475664A (en) * | 2022-03-17 | 2022-05-13 | 西华大学 | Automatic driving vehicle lane changing coordination control method for congested road section |
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Application publication date: 20200428 |