CN113682307A - Visual lane change assisting method and system - Google Patents
Visual lane change assisting method and system Download PDFInfo
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- CN113682307A CN113682307A CN202110904412.8A CN202110904412A CN113682307A CN 113682307 A CN113682307 A CN 113682307A CN 202110904412 A CN202110904412 A CN 202110904412A CN 113682307 A CN113682307 A CN 113682307A
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- 230000008859 change Effects 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000000007 visual effect Effects 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/091—Traffic information broadcasting
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of automobile auxiliary driving, in particular to a visual lane change auxiliary method and system. The method comprises the following steps: establishing a connection with a road side unit, wherein the road side unit collects vehicle information in a section through sensor equipment; receiving and integrating position information of surrounding vehicles near the vehicle in real time; establishing a coordinate system by taking the vehicle as a reference, and projecting the surrounding vehicles into the coordinate system according to the position information of the surrounding vehicles; and displaying and early warning the coordinate system through a vehicle-mounted display module. According to the method, the road side unit is used for collecting the vehicle position information in the area, the vehicle-mounted processor of the automobile is used for receiving the road surface information broadcasted by the road side unit, a coordinate graph for displaying the surrounding vehicle layout condition is established, and early warning is displayed.
Description
Technical Field
The invention relates to the technical field of automobile auxiliary driving, in particular to a visual lane change auxiliary method and system.
Background
With the development of the automobile industry, the safe driving performance of the current automobile is receiving more and more attention. As is known, in the driving process of an automobile, a certain driving blind area is formed at the rear position of the automobile, and the blind area can possibly hide the automobile which is not perceived by people, so that the potential safety hazard caused by neglecting the rear automobile in lane changing exists. In addition, the size of the current automobile body is larger and larger, and how to solve the problem that the automobile is easy to collide when changing lanes becomes an important technical problem.
In the middle of the current mainstream automobile model in the market, the lane change auxiliary system who disposes, all be through sensors such as on-vehicle camera, the millimeter wave radar, ultrasonic radar, automobile body camera, the continuous monitoring user blind area condition, thereby accurate and timely detect the vehicle in the both sides blind area, when the vehicle is opened the indicator and is prepared to lane change and drive, through the interior A post position of car, perhaps the inboard warning light of rear-view mirror shell lights and opens the scintillation and warn the driver whether have other vehicles in the blind area and accomplish the danger that lane change can lead to under the condition of guaranteeing safety and avoided the lane change. And because the precision of an automobile camera or a radar can be greatly reduced in cloud, fog, rain and snow weather, the current lane changing system is easily influenced by the cloud, fog, rain and snow weather, and certain potential safety hazards exist.
Disclosure of Invention
The invention provides a visual lane change auxiliary method and system for solving the technical problems that the conventional automobile lane change auxiliary system is easily influenced by external weather changes and is not visual enough.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a visual lane change auxiliary method is applied to a visual lane change auxiliary system, the system comprises a road side unit and an on-board processor, and the method comprises the following steps:
establishing a connection with a road side unit, wherein the road side unit collects vehicle information in a section through sensor equipment;
receiving and integrating position information of surrounding vehicles near the vehicle in real time;
establishing a coordinate system by taking the vehicle as a reference, and projecting the surrounding vehicles into the coordinate system according to the position information of the surrounding vehicles;
and displaying and early warning the coordinate system through a vehicle-mounted display module.
Further, after the step of displaying and early warning the coordinate system through the vehicle-mounted display module, the method further comprises the following steps:
receiving the position information of the surrounding vehicles in real time, calculating the real-time motion tracks of the surrounding vehicles and displaying the real-time motion tracks;
and early warning is carried out according to the real-time motion trail of the surrounding vehicles and the position of the vehicle.
Further, the early warning according to the real-time motion trail of the surrounding vehicle and the position of the vehicle comprises the following steps:
and if a lane change instruction is received, planning a lane change path according to the real-time motion track of the surrounding vehicle.
Further, the performing early warning according to the real-time motion trajectory of the surrounding vehicle and the position of the vehicle further includes:
judging whether collision danger exists or not in the lane changing process of the vehicle;
and if so, carrying out risk early warning.
Further, the risk early warning comprises voice warning, seat vibration warning and instrument display warning.
Further, the period of the on-board processor collecting and updating the position information of the surrounding vehicle to the road side unit is 100 ms.
Further, the coordinate system is constructed by adopting a northeast coordinate system.
Further, the receiving and integrating the position information of the surrounding vehicles near the host vehicle in real time includes:
and receiving the position information of the vehicles in the region collected by the road side unit, taking the position of the vehicle as a standard, extracting the position information of the vehicles around the vehicle, and integrating the position information.
The invention also provides a visual lane change auxiliary system, which comprises an on-board processor, a road side unit and an on-board display module, wherein the road side unit is used for acquiring the position information of the vehicle on the preset road section, and the on-board display module receives the signal of the on-board processor and correspondingly displays the signal; the vehicle-mounted processor is in communication connection with the road side unit, receives data collected by the road side unit, and executes the visual lane change auxiliary method.
Further, the road side unit collects vehicle information in the section through a camera, a radar and communication equipment.
The invention collects the vehicle position information in the area through the road side unit, the vehicle-mounted processor of the vehicle receives the road surface information broadcasted by the road side unit, and establishes a coordinate graph for displaying the surrounding vehicle layout condition by taking the vehicle as a reference and displays and warns.
Drawings
Fig. 1 is a structural flow chart of a visual lane change assisting method in an embodiment of the present invention.
Fig. 2 is a schematic diagram of a visual lane change assisting method in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, if any, are used in the orientations and positional relationships indicated in the drawings only for the convenience of describing the present application and for simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore the terms describing the positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
Furthermore, if the terms "first," "second," and the like are used for descriptive purposes only, they are used for mainly distinguishing different devices, elements or components (the specific types and configurations may be the same or different), and they are not used for indicating or implying relative importance or quantity among the devices, elements or components, but are not to be construed as indicating or implying relative importance.
Fig. 1 shows a structural flow chart of the visual lane change assisting method in the present embodiment.
As shown in fig. 1, the present embodiment provides a visual lane change assisting method, which is applied to a visual lane change assisting system, where the system includes a road side unit and an onboard processor, the onboard processor and the road side unit can perform communication connection, and receive information collected by the road side unit, specifically, referring to fig. 1-2, the method includes:
101. establishing a connection with a road side unit; the road side units are connected with the vehicle-mounted processor in a communication mode, and the road side units are connected with the vehicle-mounted processor in a communication mode. The vehicle-mounted processor and the rsu may establish a connection using V2X (vehicle to electric) technology.
102. Receiving and integrating position information of surrounding vehicles near the vehicle in real time; when receiving, the on-board processor receives road surface information of the road section, which is acquired by the road side unit, wherein the road surface information includes the number of vehicles in the area, the positions of the vehicles, the running speed and the like. After receiving the road surface information, the vehicle-mounted processor processes and integrates the road surface information according to the position information of the vehicle, extracts the position information of the surrounding vehicles near the vehicle, and is used for the lane change visualization early warning and assistance of the following vehicles. Of course, the definition of the surrounding vehicle may be set according to the accuracy requirement, and for example, a vehicle within 100 ± 50m of the own vehicle is defined as the surrounding vehicle.
103. And establishing a coordinate system by taking the vehicle as a reference, and projecting the surrounding vehicles into the coordinate system according to the position information of the surrounding vehicles.
104. And displaying and early warning the coordinate system through a vehicle-mounted display module.
After the position information of the surrounding vehicles is extracted by the vehicle-mounted processor, the information is visualized and sent to the vehicle-mounted display module, such as an LCD screen or other display screens, for display. Specifically, the vehicle-mounted processor establishes a coordinate system by taking the vehicle as a reference, and projects the surrounding vehicles into the coordinate system, so that the position relationship between the current vehicle and the surrounding vehicles can be visually embodied in the vehicle-mounted display module, and risks of the vehicle in the lane changing process can be visually provided. In the present embodiment, the coordinate system is constructed using the northeast coordinate system.
Of course, the visual lane-changing assisting method preferably further includes, after the above steps:
receiving the position information of the surrounding vehicles in real time, calculating the real-time motion tracks of the surrounding vehicles and displaying the real-time motion tracks; the road side unit can sense the vehicle condition of the road surface in real time through the sensor, and broadcasts after updating the road surface information. The vehicle-mounted processor receives the broadcast of the road side unit in real time, obtains the motion trail of the surrounding vehicle according to the position information of the surrounding vehicle at a plurality of moments and displays the motion trail in the vehicle-mounted display module. Specifically, the cycle of the onboard processor collecting and updating the position information of the surrounding vehicle to the roadside unit is 100 ms.
And early warning is carried out according to the real-time motion trail of the surrounding vehicles and the position of the vehicle. The early warning mode mainly takes display in the vehicle-mounted display module as a main mode, namely, in the driving process, the real-time motion track of the surrounding vehicle can be displayed in the display screen, and if abnormal driving of the surrounding vehicle is recognized, warning can be given through voice.
In addition, if the vehicle sends a lane change instruction, for example, the lane change indicator lamp is turned, the vehicle-mounted processor plans a lane change path according to the real-time motion trail of the surrounding vehicles. And displaying the planned lane change path, judging whether the vehicle has a collision danger in the lane change process by the vehicle-mounted processor according to the actual lane change path of the vehicle in the lane change process of the vehicle, and performing risk early warning if the collision danger exists.
Specifically, the triggering precondition of the collision judgment algorithm includes: 1, the far vehicle is positioned at the left rear or the right rear of the main vehicle, 2, and the far vehicle and the main vehicle run in the same direction. And 3, the distant vehicle runs in the adjacent lane of the main vehicle. And 4, turning left or turning right the main car.
The criterion of the collision judgment satisfies any one of the following conditions, and it is determined that there is a risk: 1, if the position relation between the remote vehicle and the main vehicle meets the following conditions: the transverse distance between the distant vehicle and the main vehicle is between 0.5 and 3m, and the longitudinal distance between the distant vehicle and the main vehicle is between 0.5 and 10 m; and 2, the ratio of the relative distance between the far vehicle and the main vehicle/the relative speed between the two vehicles is smaller than a preset value, and particularly, the preset value is preferably 3.
In some embodiments, the risk pre-warning is performed by voice warning, seat vibration warning, or instrument display warning, and other conventional vehicle pre-warning functions may be used.
The visual lane change assisting method has the advantages that the vehicle position information in the area is collected through the road side unit, the vehicle-mounted processor of the automobile receives the road surface information broadcasted by the road side unit, a coordinate graph displaying the surrounding vehicle layout condition is established by taking the automobile as a reference and displayed for early warning, the method can assist a driver in performing lane change operation and realizing various driving operations on a visual layer, is wide in application, is not easily influenced by cloud, fog, rain and snow weather, is high in precision reliability, is suitable for performing lane change assistance under various complicated weather conditions, and further improves the driving safety of the automobile.
The embodiment also provides a visual lane change auxiliary system, which comprises an on-board processor, a road side unit and an on-board display module, wherein the road side unit is used for acquiring position information of a vehicle on a preset road section, the on-board display module receives a signal of the on-board processor and correspondingly displays the on-board processor, the on-board processor is mainly used for being in communication connection with the road side unit, and receives road surface information acquired by the road side unit and performs calculation processing.
Preferably, the road side unit collects vehicle information in the section through a camera, a radar and a communication device. It should be noted that, in terms of the arrangement of the roadside units, the communication distance of the current V2X technology is about 500 meters, and based on this, the roadside units are generally spaced at intervals of 300 meters and 400 meters, and if the tunnel is used, the distance between the roadside units needs to be shortened due to poor signals.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A visual lane change auxiliary method is applied to a visual lane change auxiliary system, the system comprises a road side unit and an on-board processor, and the method comprises the following steps:
establishing a connection with a road side unit, wherein the road side unit collects vehicle information in a section through sensor equipment;
receiving and integrating position information of surrounding vehicles near the vehicle in real time;
establishing a coordinate system by taking the vehicle as a reference, and projecting the surrounding vehicles into the coordinate system according to the position information of the surrounding vehicles;
and displaying and early warning the coordinate system through a vehicle-mounted display module.
2. The visual lane change assisting method according to claim 1, further comprising the following steps after the step of displaying the coordinate system through an on-board display module for early warning:
receiving the position information of the surrounding vehicles in real time, calculating the real-time motion tracks of the surrounding vehicles and displaying the real-time motion tracks;
and early warning is carried out according to the real-time motion trail of the surrounding vehicles and the position of the vehicle.
3. The visual lane change assisting method according to claim 2, wherein the step of giving an early warning according to the real-time movement trajectory of the surrounding vehicle and the position of the host vehicle comprises:
and if a lane change instruction is received, planning a lane change path according to the real-time motion track of the surrounding vehicle.
4. The visual lane change assisting method according to claim 2, wherein the early warning according to the real-time motion trajectory of the surrounding vehicle and the position of the host vehicle further comprises:
judging whether collision danger exists or not in the lane changing process of the vehicle;
and if so, carrying out risk early warning.
5. The visual lane change assistance method of claim 4, wherein the risk pre-warning comprises a voice warning, a seat vibration warning, and an instrument display warning.
6. The visual lane change assisting method according to claim 1, wherein the period for the on-board processor to acquire and update the position information of the nearby vehicle to the roadside unit is 100 ms.
7. The visual lane change assisting method according to claim 1, wherein the coordinate system is constructed by using a northeast coordinate system.
8. The visual lane change assisting method according to claim 1, wherein the receiving and integrating in real time the position information of the nearby vehicle in the vicinity of the host vehicle comprises:
and receiving the position information of the vehicles in the region collected by the road side unit, taking the position of the vehicle as a standard, extracting the position information of the vehicles around the vehicle, and integrating the position information.
9. A visual lane change auxiliary system is characterized by comprising an on-board processor, a road side unit and an on-board display module, wherein the road side unit is used for collecting position information of vehicles on a preset road section, and the on-board display module receives signals of the on-board processor and correspondingly displays the signals; the vehicle-mounted processor is in communication connection with the road side unit, receives data collected by the road side unit, and executes the visual lane changing auxiliary method according to any one of claims 1 to 8.
10. The visual lane-changing auxiliary system according to claim 9, wherein the road side unit collects vehicle information in a section through a camera, a radar and a communication device.
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| CN202110904412.8A CN113682307B (en) | 2021-08-06 | 2021-08-06 | Visual lane change assisting method and system |
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| CN202110904412.8A CN113682307B (en) | 2021-08-06 | 2021-08-06 | Visual lane change assisting method and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115497323A (en) * | 2022-09-29 | 2022-12-20 | 斯润天朗（北京）科技有限公司 | Vehicle cooperative lane changing method and device based on V2X |
| CN115909787A (en) * | 2023-02-06 | 2023-04-04 | 山东科技大学 | Early warning method, equipment and medium for pavement damage condition |
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