CN115092143A - Vehicle recommended lane changing method and system based on driving assistance and readable storage medium - Google Patents

Vehicle recommended lane changing method and system based on driving assistance and readable storage medium Download PDF

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Publication number
CN115092143A
CN115092143A CN202210735752.7A CN202210735752A CN115092143A CN 115092143 A CN115092143 A CN 115092143A CN 202210735752 A CN202210735752 A CN 202210735752A CN 115092143 A CN115092143 A CN 115092143A
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China
Prior art keywords
vehicle
lane
information
lane changing
recommended
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CN202210735752.7A
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Chinese (zh)
Inventor
张家彬
于永杰
卢斌
谭秀全
梁锋华
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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Priority to CN202210735752.7A priority Critical patent/CN115092143A/en
Publication of CN115092143A publication Critical patent/CN115092143A/en
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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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention particularly relates to a vehicle recommended lane changing method and system based on driving assistance and a readable storage medium. The method comprises the following steps: acquiring driving assistance information; judging whether the driving scene of the vehicle meets recommended lane changing conditions and recommended lane changing inhibition conditions or not, and generating recommended lane changing information; pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information; judging whether the driving scene of the vehicle meets recommended lane changing inhibition conditions or not in the process of executing the lane changing operation of the vehicle, and generating recommended lane changing inhibition information; and judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a corresponding lane changing continuation instruction and a lane changing termination instruction. The invention also discloses a vehicle lane change recommendation system and a readable storage medium. The method and the device can realize recommended lane change and lane change inhibition based on the driving assistance information so as to be effectively suitable for the complex road working condition and lane change emergency working condition of the actual driving scene.

Description

Vehicle recommended lane changing method and system based on driving assistance and readable storage medium
Technical Field
The invention relates to the technical field of automatic driving assistance, in particular to a vehicle recommended lane changing method and system based on driving assistance and a readable storage medium.
Background
In recent years, the automatic driving technology is rapidly developed, but the current automatic driving can only be used in a relatively limited road environment due to the numerous and complicated domestic roads. The vehicles on the market are still in the automatic driving assistance category, and most of the vehicles can only meet the automatic driving assistance in a single lane. Meanwhile, the automatic driving assistance with the automatic lane change function cannot meet the applicability in a more general scene. The main problems are as follows: 1) high dependence on high-precision map performance; 2) the performance of the road environment perception sensor is highly dependent; 3) even in the limited road area, due to the lack of interactive confirmation of the driver, the lane changing failure risk is large, and even a traffic accident is caused.
For the problem of recommended lane change of vehicles, chinese patent publication No. CN111746542A discloses "a method, a system, a vehicle and a storage medium for vehicle intelligent lane change reminding", wherein when an autonomous vehicle is in a navigation driving mode, that is, a destination is set, a navigation path is input, and the vehicle is in an autonomous driving mode, when a ramp exit, a highway branch point or a current lane disappearance point of a highway on the navigation path, a lane-level lane change reminding signal is provided for the autonomous driving system to use for vehicle lane change control reference.
The intelligent vehicle lane change reminding method in the prior art mainly aims at the lane change reminding of the ramp and the casualty road when the navigation is started. However, the applicant has found that the above-described prior art solution is difficult to apply to actual driving scenarios. On the one hand, complex road conditions such as a forward traffic flow slow running region, a forward construction region, a forward navigation down-ramp, a forward confluence region and a forward obstacle region are involved in an actual driving scene, and the conventional scheme is difficult to realize the recommended lane changing of the complex road conditions, namely, the practicability is poor. On the other hand, in an actual driving scene, if a lane change sudden working condition such as an obstacle in a target lane or high-speed driving of a vehicle coming behind occurs, a lane change behavior needs to be stopped in time, namely lane change inhibition is performed. Therefore, how to design a method capable of improving the practicability and safety of lane change recommendation is a technical problem which needs to be solved urgently.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a vehicle recommended lane changing method based on driving assistance, which can realize recommended lane changing and lane changing inhibition based on driving assistance information so as to be effectively suitable for complex road working conditions and lane changing emergent working conditions of actual driving scenes, and therefore, the practicability and safety of recommended lane changing by driving assistance can be improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the vehicle recommended lane changing method based on driving assistance comprises the following steps:
s1: acquiring driving assistance information for reflecting a driving scene of the vehicle;
s2: whether the driving scene of the vehicle meets recommended lane changing conditions and recommended lane changing inhibition conditions is judged based on the driving assistance information fusion, and recommended lane changing information is generated when the recommended lane changing conditions are met and the recommended lane changing inhibition conditions are not met;
s3: pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information so as to control the vehicle to execute the lane changing operation;
s4: in the process of executing lane changing operation by the vehicle, whether the driving scene of the vehicle meets recommended lane changing inhibition conditions is judged based on driving assistance information fusion, if yes, recommended lane changing inhibition information is generated, and the next step is carried out; otherwise, continuing to execute the lane changing operation until the lane changing is completed;
s5: and judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a corresponding lane changing continuing instruction and a corresponding lane changing ending instruction to control the vehicle to continuously execute the lane changing operation or stop the lane changing operation.
Preferably, in step S1, the driving assistance information includes the own vehicle state information, and the road state information and the traffic state information around the own vehicle;
the vehicle state information includes vehicle traveling speed and vehicle position information;
the road state information comprises lane line information, barrier information, road type information, road construction information, junction position information and ramp port position information;
the traffic state information includes traffic accident information, traffic flow driving state information, and preceding vehicle state information.
Preferably, in step S2, the recommended lane change condition includes:
the speed difference value between the running speed of the vehicle and the running speed of the traffic flow in front of the vehicle road is smaller than the safe running threshold value;
road construction or traffic accidents exist in the preset distance K1 in front of the lane;
an obstacle exists in a preset distance K2 in front of the lane;
a junction exists in a preset distance K3 in front of the lane;
road extinction in front of the lane;
the vehicle descends the ramp within a preset distance K4 in the front direction, but the vehicle is not in the ramp side lane.
Preferably, in step S2, the recommended lane change suppression condition includes:
obstacles exist in adjacent target lanes;
the speed difference value between the vehicle running speed of the adjacent target lane and the vehicle running speed is smaller than the lane change running threshold value;
the speed difference value between the driving speed of the vehicle behind the adjacent target lane and the driving speed of the vehicle is greater than the safe lane-changing threshold value;
and the lane lines of the current lane and the adjacent target lane are forbidden to cross.
Preferably, in step S2, when the driving scene of the vehicle satisfies the recommended lane change condition and does not satisfy the recommended lane change suppression condition, it is continuously determined whether the vehicle driving speed satisfies the lane change allowable vehicle speed condition, and the recommended lane change information is generated when the lane change allowable vehicle speed condition is satisfied.
Preferably, in step S3, the recommended lane change information is pushed to the driver of the vehicle by text, image, and/or voice presentation, and the feedback confirmation information of the driver of the vehicle is received.
Preferably, in step S3, if the feedback confirmation information of the driver is not received after the preset time, the recommended lane change process is terminated.
Preferably, in step S5, if the head of the host vehicle has crossed the lane line of the adjacent target lane, a lane change continuation command is generated to control the host vehicle to continue to execute the lane change operation until the lane change is completed; and if the head of the vehicle does not cross the lane line of the adjacent target lane, generating a lane change termination instruction for controlling the vehicle to cancel the lane change operation, namely abandoning the lane change.
The invention also discloses a vehicle lane change recommendation system based on driving assistance, and the implementation of the vehicle lane change recommendation method based on the invention specifically comprises the following steps:
the information acquisition module reflects driving auxiliary information of the driving scene of the vehicle;
the lane change recommending module is used for judging whether the driving scene of the vehicle meets recommended lane change conditions and recommended lane change inhibiting conditions or not based on driving assistance information fusion, and generating recommended lane change information when the recommended lane change conditions are met and the recommended lane change inhibiting conditions are not met; then, pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information; meanwhile, judging whether the driving scene of the vehicle meets recommended lane change inhibition conditions or not in the process of executing lane change operation by the vehicle, and generating recommended lane change inhibition information when the recommended lane change inhibition conditions are met; judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a lane changing continuation instruction and a lane changing termination instruction;
and the lane changing execution module is used for controlling the vehicle to execute the lane changing operation through the lane changing execution instruction and also used for controlling the vehicle to continuously execute the lane changing operation or stop the lane changing operation through the lane changing continuing instruction or the lane changing ending instruction in the process of executing the lane changing operation by the vehicle.
The invention also discloses a readable storage medium, on which a computer management program is stored, wherein the computer management program realizes the steps of the driving assistance-based vehicle recommended lane changing method when being executed by a processor.
The vehicle recommended lane changing method based on driving assistance has the following beneficial effects:
according to the method and the device, the driving assistance information of the driving scene is reflected, whether the driving scene meets the recommended lane changing condition and the recommended lane changing inhibition condition is judged in a fusion mode, the recommended lane changing information is generated, then the recommended lane changing information is pushed to the driver, and feedback confirmation information is received, so that the recommended lane changing can be achieved by combining the driving assistance information and the driving will of the driver, the method and the device can be effectively suitable for the complex road working condition of the actual driving scene, and the practicability of the recommended lane changing of the driving assistance can be improved.
Meanwhile, in the process of executing the lane changing operation by the vehicle, the invention can further judge whether the driving scene meets the recommended lane changing inhibition condition and generates the recommended lane changing inhibition information, and further judge whether the lane changing operation is continued and control the vehicle to continue executing the lane changing operation or stop the lane changing operation based on the recommended lane changing inhibition information in combination with the lane changing behavior state of the vehicle, namely, the lane changing inhibition can be realized in combination with the driving auxiliary information and the lane changing behavior state of the vehicle, so that the invention can be effectively suitable for the lane changing burst working condition of the actual driving scene, and the safety of the driving auxiliary recommended lane changing can be improved.
Drawings
For purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made in detail to the present invention as illustrated in the accompanying drawings, in which:
FIG. 1 is a logic block diagram of a vehicle recommended lane-change method based on driving assistance;
FIG. 2 is a flow chart of a method for recommending lane changes for a vehicle based on driving assistance;
FIG. 3 is a logic diagram illustrating recommended lane changes and recommended lane change suppression;
fig. 4 is a structural diagram of a vehicle lane change recommendation system based on driving assistance.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following is further detailed by way of specific embodiments:
the first embodiment is as follows:
the embodiment discloses a vehicle recommended lane changing method based on driving assistance.
As shown in fig. 1 and 2, the method for recommending lane change for a vehicle based on driving assistance comprises the following steps:
s1: acquiring driving assistance information for reflecting a driving scene of the vehicle;
s2: whether the driving scene of the vehicle meets recommended lane changing conditions and recommended lane changing inhibition conditions is judged based on the driving assistance information fusion, and recommended lane changing information is generated when the recommended lane changing conditions are met and the recommended lane changing inhibition conditions are not met;
s3: pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information so as to control the vehicle to execute lane changing operation;
s4: in the process of executing lane changing operation by the vehicle, judging whether the driving scene of the vehicle meets recommended lane changing inhibition conditions or not based on driving assistance information fusion, if so, generating recommended lane changing inhibition information and entering the next step; otherwise, continuing to execute the lane changing operation until the lane changing is completed;
s5: and judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a corresponding lane changing continuing instruction and a corresponding lane changing ending instruction to control the vehicle to continue to execute the lane changing operation or stop the lane changing operation.
In the embodiment, the vehicle-mounted system of the vehicle acquires the state information of the vehicle, the camera of the vehicle acquires the road state information, and the high-precision map and the angle radar of the vehicle acquire the traffic state information; pushing recommended lane changing information and receiving feedback confirmation information through a human-machine interface (HMI) of the vehicle; controlling the vehicle to perform or terminate lane changing operation by controlling an engine system controller, a steering system controller and a brake system controller of the vehicle; and signal transmission is realized through a gateway, a bus system and a unified communication protocol.
It should be noted that the recommended lane changing method for the vehicle based on the driving assistance in the present invention can generate a corresponding software code or software service in a program programming manner, and further can be run and implemented on a server and a computer.
The method and the device have the advantages that the driving auxiliary information of the driving scene of the vehicle is reflected, whether the driving scene of the vehicle meets the recommended lane changing condition and the recommended lane changing inhibiting condition is judged in a fusion mode, the recommended lane changing information is generated, then the recommended lane changing information is pushed to the driver, and feedback confirmation information is received, so that the recommended lane changing can be realized by combining the driving auxiliary information and the driving intention of the driver, the method and the device can be effectively suitable for the complex road working condition of the actual driving scene, and the practicability of the driving auxiliary recommended lane changing can be improved.
Meanwhile, in the process of executing the lane changing operation by the vehicle, the invention can further judge whether the driving scene meets the recommended lane changing inhibition condition and generates the recommended lane changing inhibition information, and further judge whether the lane changing operation is continued and control the vehicle to continue executing the lane changing operation or stop the lane changing operation based on the recommended lane changing inhibition information in combination with the lane changing behavior state of the vehicle, so that the lane changing inhibition can be realized in combination with the driving auxiliary information and the lane changing behavior state of the vehicle, namely, the invention can be effectively suitable for the lane changing emergency condition of the actual driving scene, and thus the safety of the driving auxiliary recommended lane changing can be improved.
In a specific implementation process, the driving assistance information includes state information of the vehicle, and road state information and traffic state information around the vehicle;
the vehicle state information includes vehicle traveling speed and vehicle position information;
the road state information comprises lane line information, barrier information, road type information, road construction information, junction position information and ramp port position information;
the traffic state information includes traffic accident information, traffic flow driving state information, and preceding vehicle state information.
The driving assistance information comprises the vehicle state information, the road state information and the traffic state information, so that whether the vehicle driving scene meets recommended lane changing conditions and recommended lane changing inhibition conditions can be comprehensively fused and judged, and recommended lane changing and lane changing inhibition can be realized by better combining the driving assistance information, the driving willingness of a driver and the vehicle lane changing behavior state, namely, the driving assistance information is better suitable for the complex road working condition and the lane changing emergency working condition of the actual driving scene, and the practicability and the safety of the driving assistance recommended lane changing can be further improved.
In a specific implementation process, as shown in fig. 3, when the driving scene of the vehicle satisfies the recommended lane change condition and does not satisfy the recommended lane change suppression condition, it is continuously determined whether the driving speed of the vehicle satisfies the lane change vehicle speed condition, and recommended lane change information is generated when the driving speed satisfies the lane change vehicle speed condition.
And the lane-changeable lowest vehicle speed Va and the lane-changeable highest vehicle speed Vb under the lane-changeable vehicle speed condition. Va and Vb are both calibratable, and the recommended Va =30km/h and Vb =100 km/h.
If the vehicle running speed V2 meets Va < V2< Vb, the lane-changing vehicle speed condition is met.
The recommended lane change condition comprises the following steps:
the speed difference V2-V1 between the running speed V2 of the vehicle and the running speed V1 of the traffic flow in front of the vehicle road is smaller than a safe running threshold value delta V (which can be calibrated and recommended to be 15 km/h).
The road construction or traffic accidents exist in the preset distance K1 (which can be calibrated and recommended to be 500 m) in front of the road; this information is output by a high precision map and camera.
An obstacle exists in a preset distance K2 (which can be calibrated and recommended to be 200 m) in front of the lane; this information is output by the camera.
A junction exists in a preset distance K3 (which can be calibrated and recommended to be 300 m) in front of the lane; the information is output by a high-precision map and a camera.
The vehicle goes down a ramp within a preset distance K4 (which can be calibrated and recommended to be 1500 m) in front, but the vehicle is not in a lane beside the ramp; this information is output by a high-precision map.
Road extinction in front of the lane; and (4) recommending and recognizing the distance between the casual road and the vehicle as soon as the distance is not specified. The information is output by a camera and a high-precision map;
the recommended lane change suppression conditions include:
obstacles exist in adjacent target lanes; this information is output by the camera.
The speed difference V3-V2 between the vehicle running speed V3 of the adjacent target lane and the vehicle running speed V2 is smaller than a lane change running threshold value delta V1 (which can be calibrated and recommended to be 15 km/h), and the traffic flow of the adjacent lane is considered to be slow; this information is output by the camera and the angular radar.
The speed difference V4-V2 between the vehicle running speed V4 behind the adjacent target lane and the vehicle running speed V2 is larger than a safe lane change threshold delta V2 (which can be calibrated and recommends 5 km/h); this information is output by the angle radar.
The lane line of the current lane and the adjacent target lane is forbidden to cross; when the lane lines of the lane and the adjacent target lane are in solid lines, double solid lines, fishbone lines, oblique lines and the like, the lane lines of the lane and the adjacent target lane are considered to be forbidden to cross; the information is output by the camera.
The method and the device provided by the invention can be used for fusion judgment of whether the driving scene meets the recommended lane change condition and the recommended lane change inhibiting condition by reflecting the driving auxiliary information of the driving scene so as to generate the recommended lane change information, can be used for realizing recommended lane change by better combining the driving auxiliary information and the driving intention of a driver, and can be more effectively suitable for the complex road working condition of the actual driving scene, thereby further improving the practicability of the driving auxiliary recommended lane change.
In the specific implementation process, the recommended lane changing information is sent to an HMI (human machine interface) of the vehicle, the HMI pushes the recommended lane changing information to a driver of the vehicle in a text, image and/or voice prompting mode, and then receives feedback confirmation information of the driver of the vehicle.
Such as "hairThe current path is more optimal, and the path is recommended to be changed to the left
Figure DEST_PATH_IMAGE002
", images, text, and sound can be expanded and enriched; after receiving the prompt message, the driver sends a feedback confirmation message by confirming whether to change the lane by voice or dialing a steering lamp.
And if the feedback confirmation information of the driver is not received after the preset time is exceeded, the recommended lane changing process is terminated. If the driver does not confirm the lane change, continuously pushing recommended lane change information within a certain time t1 (which can be calibrated); if the certain time t2 (which can be calibrated) is exceeded, the HMI cancels the push information for recommending the lane change, ensures that the recommended information is timely and reasonably pushed to the driver, and simultaneously gives consideration to the driving intention of the driver.
In the lane changing process, the HMI converts the received lane changing instruction into characters, images and sounds to prompt a driver, and after the lane changing is finished, the HMI displays lane changing finishing information to prompt the driver.
According to the invention, the recommended lane change information is pushed to the driver and the feedback confirmation information of the driver is received, so that the recommended lane change can be realized by better combining the driving assistance information and the driving intention of the driver, the recommended lane change can be more effectively suitable for the complex road working condition of the actual driving scene, and the practicability of the recommended lane change of the driving assistance can be further improved.
In a specific implementation process, if the head (front bumper center) of the vehicle already crosses a lane line of an adjacent target lane, a lane changing continuing instruction is generated to control the vehicle to continue to execute lane changing operation until lane changing is completed, and meanwhile, the HMI can convert received alarm information into characters, images and voice to be provided for a driver to remind the driver of careful driving; if the head of the vehicle does not cross the lane line of the adjacent target lane, a lane change termination instruction is generated to control the vehicle to cancel the lane change operation, namely abandon the lane change, and simultaneously, a lane change backspacing instruction is sent to the HMI, and the HMI also converts the received lane change backspacing prompting instruction into characters, images and sounds to prompt the driver to remind the driver of prudent driving.
The invention judges whether the lane changing operation is continued or not through the vehicle head position and controls the vehicle to continuously execute the lane changing operation or stop the lane changing operation, so that the lane changing inhibition can be better and more effectively realized by combining the driving auxiliary information and the vehicle lane changing behavior state, namely, the lane changing control method can be better suitable for the lane changing burst working condition of the actual driving scene, and the safety of recommending the lane changing by the driving auxiliary can be further improved.
The second embodiment:
the embodiment discloses a vehicle lane change recommendation system based on driving assistance, which is implemented based on the vehicle lane change recommendation method in the first embodiment.
As shown in fig. 4, the driving assistance-based vehicle lane change recommendation system specifically includes:
the information acquisition module reflects the driving auxiliary information of the driving scene of the vehicle;
the lane changing recommendation module is used for judging whether the driving scene of the vehicle meets recommended lane changing conditions and recommended lane changing inhibition conditions based on driving assistance information fusion, and generating recommended lane changing information when the recommended lane changing conditions are met and the recommended lane changing inhibition conditions are not met; then, pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information; meanwhile, judging whether the driving scene of the vehicle meets recommended lane changing inhibition conditions or not in the process of executing the lane changing operation of the vehicle, and generating recommended lane changing inhibition information when the recommended lane changing inhibition conditions are met; judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a lane changing continuation instruction and a lane changing termination instruction;
and the lane changing execution module is used for controlling the vehicle to execute the lane changing operation through the lane changing execution instruction and also used for controlling the vehicle to continuously execute the lane changing operation or stopping the lane changing operation through the lane changing continuing instruction or the lane changing stopping instruction in the process of executing the lane changing operation by the vehicle.
In this embodiment, the lane change recommending module and the lane change executing module constitute a recommending lane changing control module.
The method comprises the steps that vehicle state information is obtained through a vehicle machine system of a vehicle, road state information is obtained through a camera of the vehicle, and traffic state information is obtained through a high-precision map and an angle radar of the vehicle; pushing recommended lane changing information and receiving feedback confirmation information through a human-machine interface (HMI) of the vehicle; controlling the vehicle to perform or terminate lane-changing operations by controlling an engine system controller, a steering system controller, and a brake system controller of the vehicle; signal transmission is realized through a gateway, a bus system and a unified communication protocol.
The method and the device have the advantages that the driving auxiliary information of the driving scene of the vehicle is reflected, whether the driving scene of the vehicle meets the recommended lane changing condition and the recommended lane changing inhibiting condition is judged in a fusion mode, the recommended lane changing information is generated, then the recommended lane changing information is pushed to the driver, and feedback confirmation information is received, so that the recommended lane changing can be realized by combining the driving auxiliary information and the driving intention of the driver, the method and the device can be effectively suitable for the complex road working condition of the actual driving scene, and the practicability of the driving auxiliary recommended lane changing can be improved.
Meanwhile, in the process of executing the lane changing operation by the vehicle, the invention can further judge whether the driving scene meets the recommended lane changing inhibition condition and generates the recommended lane changing inhibition information, and further judge whether the lane changing operation is continued and control the vehicle to continue executing the lane changing operation or stop the lane changing operation based on the recommended lane changing inhibition information in combination with the lane changing behavior state of the vehicle, so that the lane changing inhibition can be realized in combination with the driving auxiliary information and the lane changing behavior state of the vehicle, namely, the invention can be effectively suitable for the lane changing emergency condition of the actual driving scene, and thus the safety of the driving auxiliary recommended lane changing can be improved.
Example three:
disclosed in the present embodiment is a readable storage medium.
A readable storage medium having stored thereon a computer management-like program that, when executed by a processor, implements the steps of the driving assistance-based vehicle recommended lane-change method of the present invention. The readable storage medium can be a device with readable storage function such as a U disk or a computer.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that the technical solutions of the present invention can be modified or substituted with equivalent solutions without departing from the spirit and scope of the technical solutions, and all should be covered in the claims of the present invention.

Claims (10)

1. The method for recommending lane change for the vehicle based on driving assistance is characterized by comprising the following steps of:
s1: acquiring driving assistance information for reflecting a driving scene of the vehicle;
s2: judging whether the driving scene of the vehicle meets recommended lane changing conditions and recommended lane changing inhibition conditions or not based on the driving assistance information fusion, and generating recommended lane changing information when the recommended lane changing conditions are met and the recommended lane changing inhibition conditions are not met;
s3: pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information so as to control the vehicle to execute the lane changing operation;
s4: in the process of executing lane changing operation by the vehicle, judging whether the driving scene of the vehicle meets recommended lane changing inhibition conditions or not based on driving assistance information fusion, if so, generating recommended lane changing inhibition information and entering the next step; otherwise, continuing to execute the lane changing operation until the lane changing is completed;
s5: and judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a corresponding lane changing continuing instruction and a corresponding lane changing ending instruction to control the vehicle to continue to execute the lane changing operation or stop the lane changing operation.
2. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S1, the driving assistance information includes the own vehicle state information, and the road state information and traffic state information around the own vehicle;
the vehicle state information includes vehicle traveling speed and vehicle position information;
the road state information comprises lane line information, barrier information, road type information, road construction information, junction position information and ramp port position information;
the traffic state information includes traffic accident information, traffic flow driving state information, and preceding vehicle state information.
3. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S2, the recommended lane change condition includes:
the speed difference value between the running speed of the vehicle and the running speed of the traffic flow in front of the vehicle road is smaller than the safe running threshold value;
road construction or traffic accidents exist in the preset distance K1 in front of the lane;
an obstacle exists in a preset distance K2 in front of the lane;
a junction exists in a preset distance K3 in front of the lane;
the vehicle descends the ramp within a preset distance K4 in the front direction, but the vehicle is not positioned in the lane beside the ramp;
the road ahead of the lane disappears.
4. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S2, the recommended lane change suppression condition includes:
obstacles exist in adjacent target lanes;
the speed difference value between the vehicle running speed of the adjacent target lane and the vehicle running speed is smaller than the lane change running threshold value;
the speed difference value between the driving speed of the vehicle behind the adjacent target lane and the driving speed of the vehicle is greater than the safe lane-changing threshold value;
and the lane lines of the current lane and the adjacent target lane are forbidden to cross.
5. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S2, when the driving scene of the vehicle satisfies the recommended lane change condition and does not satisfy the recommended lane change suppression condition, it is continuously determined whether the vehicle driving speed satisfies the lane change allowable vehicle speed condition, and recommended lane change information is generated when the lane change allowable vehicle speed condition is satisfied.
6. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S3, the recommended lane change information is pushed to the driver of the vehicle by way of text, image, and/or voice prompt, and further feedback confirmation information of the driver of the vehicle is received.
7. The driving-assistance-based vehicle recommended lane-changing method according to claim 6, characterized in that: in step S3, if the feedback confirmation information of the driver is not received after the preset time, the recommended lane change process is terminated.
8. The driving-assistance-based vehicle lane change recommendation method according to claim 1, wherein: in step S5, if the head of the host vehicle has crossed the lane line of the adjacent target lane, a lane change continuation command is generated to control the host vehicle to continue executing the lane change operation until the lane change is completed; and if the head of the vehicle does not cross the lane line of the adjacent target lane, generating a lane change termination instruction for controlling the vehicle to cancel the lane change operation, namely abandoning the lane change.
9. Vehicle recommends system of changing lanes based on driving assistance which characterized in that: the implementation of the recommended lane-changing method based on the vehicle of claim 1 specifically comprises:
the information acquisition module reflects the driving auxiliary information of the driving scene of the vehicle;
the lane change recommending module is used for judging whether the driving scene of the vehicle meets recommended lane change conditions and recommended lane change inhibiting conditions or not based on driving assistance information fusion, and generating recommended lane change information when the recommended lane change conditions are met and the recommended lane change inhibiting conditions are not met; then, pushing the recommended lane changing information, and generating a lane changing execution instruction after receiving the feedback confirmation information; meanwhile, judging whether the driving scene of the vehicle meets recommended lane change inhibition conditions or not in the process of executing lane change operation by the vehicle, and generating recommended lane change inhibition information when the recommended lane change inhibition conditions are met; judging whether the lane changing operation is continued or not based on the recommended lane changing inhibition information and the lane changing behavior state of the vehicle, and further generating a lane changing continuation instruction and a lane changing termination instruction;
and the lane changing execution module is used for controlling the vehicle to execute the lane changing operation through the lane changing execution instruction and also used for controlling the vehicle to continuously execute the lane changing operation or stopping the lane changing operation through the lane changing continuing instruction or the lane changing stopping instruction in the process of executing the lane changing operation by the vehicle.
10. A readable storage medium, characterized in that a computer management like program is stored thereon, which when executed by a processor, performs the steps of the driving assistance based vehicle recommended lane changing method according to any one of claims 1-8.
CN202210735752.7A 2022-06-27 2022-06-27 Vehicle recommended lane changing method and system based on driving assistance and readable storage medium Pending CN115092143A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115489536A (en) * 2022-11-18 2022-12-20 中国科学院心理研究所 Driving assistance method, system, equipment and readable storage medium
WO2024082701A1 (en) * 2022-10-21 2024-04-25 华为技术有限公司 Lane changing method and apparatus, and intelligent driving device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024082701A1 (en) * 2022-10-21 2024-04-25 华为技术有限公司 Lane changing method and apparatus, and intelligent driving device
CN115489536A (en) * 2022-11-18 2022-12-20 中国科学院心理研究所 Driving assistance method, system, equipment and readable storage medium
CN115489536B (en) * 2022-11-18 2023-01-20 中国科学院心理研究所 Driving assistance method, system, equipment and readable storage medium

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