CN116229758A - Lane changing guiding method, road side equipment, system and storage medium - Google Patents

Lane changing guiding method, road side equipment, system and storage medium Download PDF

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CN116229758A
CN116229758A CN202111470264.XA CN202111470264A CN116229758A CN 116229758 A CN116229758 A CN 116229758A CN 202111470264 A CN202111470264 A CN 202111470264A CN 116229758 A CN116229758 A CN 116229758A
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target
vehicle
lane change
lane
gap
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田蒙恩
付俭伟
马春香
赵耀
张振华
陈旺怡
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Beijing Wanji Technology Co Ltd
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Beijing Wanji Technology Co Ltd
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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
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • 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

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Abstract

The embodiment of the application provides a lane change guiding method, a road side device, a system and a storage medium, which relate to the intelligent traffic field and comprise the following steps: receiving a first message sent by a target vehicle and requesting lane changing to a target lane, wherein the running direction of the target lane is the same as the running direction of the target vehicle; in response to the first message, determining the ith gap as a candidate entry gap in a case where the ith gap located behind the target vehicle in the target lane satisfies a preset condition that: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval; determining target parameters based on the candidate entry gap, wherein the target parameters comprise a lane change position, and the lane change position is the position of a target vehicle entering a target lane from a current lane; and if the target parameters meet the conditions of the target vehicle converging candidate converging gap, sending a second message for guiding the lane change to the target vehicle, wherein the second message comprises the target parameters.

Description

Lane changing guiding method, road side equipment, system and storage medium
Technical Field
The application relates to the field of intelligent traffic, in particular to a lane change guiding method, road side equipment, a system and a storage medium.
Background
Vehicles play an important role in modern life. With the rapid progress of the number of vehicles, various traffic accidents are more frequent, and particularly, the traffic accidents caused by lane changing of the vehicles are more frequent.
At present, according to traffic accident statistical data, in the process of driving a vehicle in a lane change, due to the fact that the distance between front vehicles and rear vehicles on a lane to be changed is smaller, the speed of the rear vehicles on the lane to be changed is higher, or the lane change vehicle cannot complete acceleration or deceleration in time, the probability of collision between the lane change vehicle and the vehicle on the lane to be changed is higher. Therefore, how to guide the accurate lane change of the vehicle becomes a technical problem to be solved.
Disclosure of Invention
The application provides a lane change guiding method, a road side device, a system and a storage medium, which solve the problem that the prior art cannot accurately guide a vehicle lane change.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, a lane change guiding method is provided, the method including:
receiving a first message sent by a target vehicle and requesting lane changing to a target lane, wherein the running direction of the target lane is the same as the running direction of the target vehicle;
in response to the first message, determining the ith gap as a candidate entry gap in a case where the ith gap located behind the target vehicle in the target lane satisfies a preset condition that: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval;
Determining target parameters based on the candidate entry gap, wherein the target parameters comprise a lane change position, and the lane change position is the position of a target vehicle entering a target lane from a current lane;
if the target parameters meet the conditions of the target vehicle entering the candidate entry gap, a second message for guiding the lane change is sent to the target vehicle, and the second message comprises the target parameters;
where i is an integer which starts from 1.
In some embodiments, the target parameters further comprise at least one of: lane change speed, lane change acceleration, lane change time; the lane change speed is the running speed of the target vehicle after the lane change of the target lane; the lane change acceleration is the acceleration of the target vehicle from the current speed to the lane change speed; the lane change time is the time taken for the target vehicle to travel from the current position to the lane change position.
Correspondingly, determining the target parameter based on the candidate entry gap includes:
determining the lowest speed of the front vehicle speed and the rear vehicle speed of the candidate entering gap as the lane change speed based on the candidate entering gap;
determining a lane changing position and a lane changing time according to the lane changing speed;
and if the distance from the lane change position to the starting end of the target lane is smaller than or equal to the length of the target lane, determining the lane change acceleration according to the lane change speed and the lane change position.
In some embodiments, determining the target parameter based on the candidate entry gap further comprises:
if the lane change acceleration is greater than or equal to the maximum safe braking deceleration allowed to be provided by the target vehicle and the lane change acceleration is less than or equal to the maximum acceleration allowed to be provided by the target vehicle, determining the absolute time interval between the target vehicle and the front vehicle of the candidate entering gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entering gap according to the lane change position and the lane change time;
if the target parameter meets the condition of the target vehicle entering the candidate entry gap, a second message for guiding the lane change is sent to the target vehicle, and the second message comprises:
if the absolute time interval between the target vehicle and the front vehicle of the candidate entering gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entering gap are all greater than or equal to the minimum absolute safety time interval, executing any one of the following steps:
re-determining the lane change position as the current position of the target vehicle, re-determining the lane change time as 0, and sending a second message to the target vehicle, wherein the second message comprises: lane change speed, lane change acceleration, redetermined lane change position, redetermined lane change time;
or alternatively, the process may be performed,
acquiring an absolute time interval between the target vehicle and a front vehicle of a current lane and an absolute time interval between the target vehicle and a rear vehicle of a candidate entry gap, and sending a second message to the target vehicle when the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to a minimum absolute safety time interval, wherein the second message comprises: lane change speed, lane change acceleration, lane change position, lane change time.
In some embodiments, in the event that the front vehicle speed of the candidate merge gap is less than the rear vehicle speed, the target parameters further include: the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap;
the target parameter satisfies a condition that the target vehicle enters the candidate entry gap, further comprising: the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap is greater than or equal to the minimum relative safe time interval.
In some embodiments, determining the target parameter based on the candidate entry gap further comprises:
under the condition that the front vehicle speed of the candidate afflux gap is greater than or equal to the rear vehicle speed, if the lane changing acceleration is smaller than the maximum safe braking deceleration allowed to be provided by the target vehicle, resetting the lane changing acceleration to the maximum safe braking deceleration, and re-determining the lane changing position and the lane changing time according to the maximum safe braking deceleration; or if the lane change acceleration is larger than the maximum acceleration allowed to be provided by the target vehicle, resetting the lane change acceleration to the maximum acceleration allowed to be provided by the target vehicle, and redefining the lane change position and the lane change time according to the maximum acceleration allowed to be provided by the target vehicle;
determining the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap according to the re-determined lane change position and lane change time;
If the target parameter meets the condition of the target vehicle entering the candidate entry gap, a second message for guiding the lane change is sent to the target vehicle, and the second message comprises:
if the absolute time interval between the target vehicle and the front vehicle of the candidate entering gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entering gap are all greater than or equal to the minimum absolute safety time interval, and the distance from the redetermined lane change position to the starting end of the target lane is smaller than or equal to the length of the target lane, a second message is sent to the target vehicle, wherein the second message comprises: lane change speed, redetermined lane change acceleration, redetermined lane change position, redetermined lane change time.
In some embodiments, determining the target parameter based on the candidate entry gap further comprises:
under the condition that the front vehicle speed of the candidate afflux gap is smaller than the rear vehicle speed, if the lane changing acceleration is smaller than the maximum safe braking deceleration allowed to be provided by the target vehicle, resetting the lane changing acceleration to the maximum safe braking deceleration, and re-determining the lane changing position and the lane changing time according to the maximum safe braking deceleration; or if the lane change acceleration is larger than the maximum acceleration allowed to be provided by the target vehicle, resetting the lane change acceleration to the maximum acceleration allowed to be provided by the target vehicle, and redefining the lane change position and the lane change time according to the maximum acceleration allowed to be provided by the target vehicle;
Determining an absolute time interval between the target vehicle and a front vehicle of the candidate entry gap, an absolute time interval between the target vehicle and a rear vehicle of the candidate entry gap and a relative time interval between the target vehicle and the rear vehicle of the candidate entry gap according to the re-determined lane change position and lane change time;
if the target parameter meets the condition of the target vehicle entering the candidate entry gap, a second message for guiding the lane change is sent to the target vehicle, and the second message comprises:
if the absolute time interval between the target vehicle and the front vehicle of the candidate entering gap, the absolute time interval between the target vehicle and the rear vehicle of the candidate entering gap are all greater than or equal to the minimum absolute safety time interval, the relative time interval between the target vehicle and the rear vehicle of the candidate entering gap is greater than or equal to the minimum relative safety time interval, and the distance from the newly determined lane change position to the starting end of the target lane is less than or equal to the length of the target lane, a second message is sent to the target vehicle, wherein the second message comprises: lane change speed, redetermined lane change acceleration, redetermined lane change position, redetermined lane change time.
In some embodiments, after determining the ith gap as a candidate import gap, the method further comprises:
if the target parameter does not meet the condition of the target vehicle entering the candidate entering gap, continuously searching the candidate entering gap meeting the preset condition in the gap behind the ith gap in the target lane.
In some embodiments, after receiving the first message sent by the target vehicle requesting lane change to the target lane, the method further comprises:
and sending a third message for keeping forward to the target vehicle under the condition that the candidate entry gap meeting the preset condition is not found in the target lane.
In a second aspect, a roadside device is provided that includes a communication module and a control module.
The communication module is used for receiving a first message which is sent by a target vehicle and is used for requesting lane changing to a target lane, and the specified vehicle running direction of the target lane is the same as the running direction of the target vehicle;
a control module for determining an ith gap located behind the target vehicle in the target lane as a candidate entry gap in response to the first message if the ith gap satisfies a preset condition; determining a target parameter based on the candidate import gap; wherein, the preset conditions are: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval; the target parameters comprise lane changing positions, wherein the lane changing positions are positions of target vehicles entering the target lane from the current lane;
the communication module is further used for sending a second message for guiding the lane change to the target vehicle if the target parameter meets the condition that the target vehicle enters the candidate entry gap, and the second message comprises the target parameter;
Where i is an integer which starts from 1.
In a third aspect, there is provided a roadside fusion awareness system comprising a processor and a memory, the processor being coupled to the memory, the processor being operable to execute a computer program or instructions stored in the memory to cause the system to perform the lane change guidance method of any one of the first aspects.
In a fourth aspect, there is provided a readable storage medium having stored thereon a computer program which, when run on a roadside fusion awareness system, causes the roadside fusion awareness system to perform the lane change guiding method as in any one of the first aspects.
In this embodiment of the present application, when the vehicle travels along the current lane, if it is desired to change the lane to the target lane, a lane change request message may be sent to the roadside device. After the road side equipment receives the lane changing information, a candidate entry gap with the time interval of a front vehicle and a rear vehicle being greater than or equal to the minimum safe entry gap time interval is sequentially searched in a gap positioned at the rear of the vehicle in a target lane from front to back; then, determining at least one parameter, such as a lane change position from the current lane to the target lane, based on the candidate entry gap; and then, if the at least one parameter meets the condition of the convergence gap, sending the at least one parameter of the guiding lane change to the vehicle, so that the vehicle can change lanes according to the at least one parameter. In this way, the accurate lane change of the vehicle guided by the road side equipment is realized.
Drawings
Fig. 1 is a flow chart of a lane change guiding method according to an embodiment of the present application;
fig. 2 is a schematic view of a scenario for guiding a vehicle to change lanes according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a road side fusion sensing system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a road side fusion sensing system according to another embodiment of the present application.
Detailed Description
In the description of the present application, "/" means or, unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Also, in the description of the present application, unless otherwise indicated, "a plurality" means two or more than two. In addition, for the sake of clarity in describing the technical solutions of the embodiments of the present application, the "first" and "second" and the like described in the embodiments of the present application are used to distinguish different objects or to distinguish different treatments on the same object, and are not used to describe a specific order of the objects.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Some terms of art to which this application pertains are described below.
Road Side Unit (RSU), also called road side unit, road side base station, is a device integrating multiple technologies such as road side sensing, edge computing, internet of vehicles (vehicle to everything, V2X) and 5G technologies. Real-time dynamic information of road traffic participants can be acquired in an omnibearing manner and accurately, and the information is transmitted to surrounding vehicles by utilizing V2X/5G. Regional information collection, calculation, fusion and service are realized by means of the intelligent base station, the problem of information perception of the super-long distance and non-line-of-sight of automatic driving is solved, and the automatic driving cost is reduced.
An on-board unit (OBU) refers to a device that communicates with an RSU using short range communication (dedicated short range communication, DSRC) technology. In V2X communication, the OBU adopts DSRC technology to establish a microwave communication link with the RSU, and information interaction can be realized under the condition of no stopping during vehicle running.
The lane change guiding method, the road side device, the system and the storage medium provided in the embodiments of the present application will be illustrated by the following embodiments in conjunction with the accompanying drawings.
Fig. 1 is a flow chart of a lane change guiding method according to an embodiment of the present application. As shown in fig. 1, the method may include S101 to S108 described below.
S101, receiving a first message sent by a target vehicle and requesting lane change to a target lane.
It should be noted that, the execution body of the method may be a road side device.
The vehicle travel direction specified by the target lane is the same as the travel direction of the target vehicle.
Optionally, the target lane and the current lane of the target vehicle are adjacent lanes; alternatively, the target lane may be separated from the current lane of the target vehicle by several lanes.
For example, as shown in fig. 2, the directions of travel of the vehicles specified by the adjacent lanes 1 and 2 are directions indicated by arrows, and a plurality of vehicles in a traveling state are present in each lane. An on-board unit (OBU) mounted on the vehicle and a roadside device (RSU) provided at the roadside can communicate wirelessly.
Assuming that a certain vehicle located in lane 1 wants to change lanes to lane 2, the vehicle may transmit a lane change request message requesting a lane change to lane 2 to a roadside apparatus disposed near the vehicle through a loaded in-vehicle unit. The road side device can search for a proper gap in the gap behind the vehicle in the lane 2 according to the received lane changing request message, and guide the vehicle to change lanes under the condition that the condition of entering the gap is met.
S102, searching whether a candidate entry gap meeting a preset condition exists in a gap positioned behind the target vehicle in the target lane.
After the road side equipment receives the message of requesting lane change sent by the target vehicle, the appropriate entry gap is sequentially searched from front to back in the gap positioned at the rear of the target vehicle. In order to facilitate the roadside device to find a suitable afflux gap, the embodiment of the application quantifies the afflux gap, for example, selects a headway as a criterion of the afflux gap. The calculation formula of the headway is as follows:
Figure BDA0003391615870000061
wherein A is used for representing a front vehicle of a gap, B is used for representing a rear vehicle of the gap, T AB Time interval of the head for representing A and B, S AB For indicating the distance between the vehicles before and after the gap, V B For indicating the speed of the rear vehicle.
The preset conditions are set as follows: the time interval between the front car and the rear car of the gap is greater than or equal to the minimum safety afflux gap time interval, namely T AB ≥T min . For a gap positioned behind a target vehicle in a target lane, judging whether the 1 st gap meets a preset condition or not; if not, it is determined whether the 2 nd gap satisfies the preset condition … … until the i-th gap satisfies the preset condition, and the following S103 is performed. Wherein T is min The minimum safety entry gap is typically 4s for a car and 4.9s for a large or medium-sized vehicle.
If any candidate entry gap satisfying the preset condition is not found up to the last gap of the target lane, the following S108 is executed.
S103, determining the ith gap as a candidate import gap.
S104, determining target parameters based on the candidate import gap.
S105, judging whether the target parameter meets the condition of the target vehicle entering the candidate entering gap.
If the target parameter satisfies the condition of the target vehicle entering the candidate entry gap, the following S106 is executed; if not, the following S107 is executed.
Optionally, the target parameter may include at least one of:
Lane change speed V' H : the driving speed of the target vehicle after the lane change of the target lane;
lane change acceleration a: acceleration of the target vehicle from the current speed to the lane change speed;
lane change position S' H : the position of the target vehicle entering the target lane from the current lane;
lane change time T' H : the time it takes for the target vehicle to travel from the current position to the lane-change position.
Accordingly, the target parameter meeting the condition of the target vehicle entering the candidate entry gap may include at least one of:
1) Lane change speed V' H The lowest speed of the front vehicle speed and the rear vehicle speed that is the candidate entry gap.
2) The lane change acceleration a is greater than or equal to the maximum safe braking deceleration allowed to be provided by the target vehicle, and the lane change acceleration is less than or equal to the maximum acceleration allowed to be provided by the target vehicle.
Lane change acceleration generally satisfies the following relationship:
a min ≤a≤a max (equation 2)
Wherein a is max For indicating the maximum acceleration that the target vehicle can provide, typically 2.7m/s 2 。
a min For indicating the maximum safety braking deceleration which the host vehicle can provide, typically-2.5 m/s 2 。
3) Lane change position S' H The distance to the beginning of the target lane is less than or equal to the length of the target lane.
Lane change position S' H The following relationship needs to be satisfied:
Figure BDA0003391615870000071
Wherein L is used to represent the length of the target lane, S H For indicating the distance from the current position of the target vehicle to the start of the target lane, V H For representingThe current speed of the target vehicle.
4) Lane change time T' H For the shortest time to merge into the target lane.
Lane change time T' H The following relationship needs to be satisfied:
Figure BDA0003391615870000072
further, the target parameters may further include: the absolute time interval between the target vehicle and the preceding vehicle of the candidate entry gap, and the absolute time interval between the target vehicle and the following vehicle of the candidate entry gap. Correspondingly, the target parameter satisfies the condition that the target vehicle enters the candidate entry gap, and further includes: the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to the minimum absolute safety time interval.
Further, the target parameters may further include: the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap. Correspondingly, the target parameter satisfies the condition that the target vehicle enters the candidate entry gap, and further includes: the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap is greater than or equal to the minimum relative safe time interval.
S106, sending a second message for guiding the lane change to the target vehicle. The second message includes target parameters including, for example, lane change speed, lane change acceleration, lane change position, lane change time.
S107, continuously searching whether a candidate entry gap meeting a preset condition exists in a gap behind the ith gap in the target lane.
If there is a candidate import gap satisfying the preset condition, steps similar to S103 to S106 are performed; if not, the following step S108 is executed.
S108, sending a third message for keeping forward to the target vehicle.
In this embodiment of the present application, when the vehicle travels along the current lane, if it is desired to change the lane to the target lane, a lane change request message may be sent to the roadside device. After the road side equipment receives the lane changing information, a candidate entry gap with the time interval of a front vehicle and a rear vehicle being greater than or equal to the minimum safe entry gap time interval is sequentially searched in a gap positioned at the rear of the vehicle in a target lane from front to back; at least one parameter, such as a lane change position from the current lane to the target lane, is then determined based on the candidate entry gap. Then, in the case where the at least one parameter satisfies the condition of the afflux gap, the roadside apparatus may transmit the at least one parameter of the guide lane change to the vehicle so that the vehicle may perform the lane change according to the at least one parameter. In addition, if no appropriate entry gap is found, the road side device can guide the vehicle to continue to move forward, wait for new lane change time, and guide the vehicle to change lanes according to the method under the condition that the conditions are met. In this way, the accurate lane change of the vehicle guided by the road side equipment is realized.
The specific implementation of S104 to S106 of the above embodiment will be exemplarily described below taking as an example that the target parameters include at least a lane change speed, a lane change acceleration, a lane change position, and a lane change time.
S1, determining the lowest speed of the front vehicle speed and the rear vehicle speed of the candidate entering gap as a lane change speed V 'based on the candidate entering gap' H 。
V for front vehicle speed assuming candidate entry gap A V for the speed of the vehicle after the candidate entry gap B Representation, then, is divided into two cases:
the speed of the lead vehicle in the candidate entry gap being greater than or equal to the speed of the following vehicle, i.e. V A ≥V B ；
The speed of the lead vehicle in the candidate entry gap is less than the speed of the following vehicle, i.e. V A <V B 。
When V is A ≥V B In order to ensure that the vehicle can be converged into the target lane in the shortest time and prevent rear-end collision of the rear vehicle, the vehicle needs to be converged into the target lane when the current lane accelerates or decelerates to reach the rear vehicle speed, namely V' H ＝V B 。
When V is A <V B In order to ensure that the vehicles can be converged into the target lane in the shortest timeThe disturbance to the traffic of the target lane is minimal, and the vehicle can only enter the target lane when the current lane accelerates or decelerates to reach the speed of the front vehicle, namely V' H ＝V A 。
Therefore, the selection principle of the lane change speed is V' H ＝min{V A ,V B }。
S2, according to the lane change speed V' H Determining the lane change position S' H And track change time T' H 。
For safety reasons, when a vehicle enters the candidate entry gap, the vehicle must maintain a safe time interval with both the leading and trailing vehicles of the candidate entry gap. It should be noted that, in order to comprehensively judge whether the import position of the vehicle maintains a safe time interval with the front and rear vehicles of the candidate import gap, the embodiment of the application introduces the concepts of absolute time interval and relative time interval.
When the absolute time interval can be used for limiting the vehicles to enter the gap, the distance between the vehicles and the front and rear vehicles of the gap cannot be too small; the relative time interval may be used to limit the vehicle to V A <V B When the vehicle enters the gap, the speed difference between the vehicle and the rear vehicle at the gap cannot be too large, so that the rear vehicle at the gap can be ensured to have enough time to adjust the speed of the vehicle to avoid rear-end collision.
T for absolute time interval of preceding vehicle assuming gap between target vehicle and candidate entry Aabs T for absolute time interval of rear vehicle indicating gap between target vehicle and candidate entry Babs T for representing relative time interval between target vehicle and rear vehicle of candidate entry gap Brel Representing the minimum absolute safety time interval T abs Representing the minimum relative safe time interval T rel S is used for indicating the distance from the front vehicle of the candidate entering gap to the starting end of the target lane A S is used for representing distance from rear vehicle of candidate entering gap to starting end of target lane B And (3) representing.
When V is A ≥V B When the target vehicle enters the candidate entry gap, the absolute safety time interval between the target vehicle and the front and rear vehicles of the candidate entry gap is required to be kept, namely, the following conditions are satisfied:
Figure BDA0003391615870000091
Figure BDA0003391615870000092
when V is A <V B When the target vehicle enters the candidate entry gap, the absolute safety time interval is kept between the target vehicle and the front and rear vehicles of the candidate entry gap, and the relative safety time interval is kept between the target vehicle and the rear vehicle of the candidate entry gap, namely, the following conditions are satisfied:
Figure BDA0003391615870000093
since the candidate entry gap is located behind the target vehicle, the shortest lane change time T' H The time required to accelerate the target vehicle to a minimum safe time interval from the gapped lead vehicle, i.e. T Aabs ＝T abs . Thus, the lane change time T' H The following relationship is satisfied:
Figure BDA0003391615870000101
according to the description in the above embodiment, the lane change time T' H The following relationship is also satisfied:
Figure BDA0003391615870000102
the simultaneous equations 8 and 9 can be calculated:
Figure BDA0003391615870000103
thus, the lane change position S 'is calculated' H . At the position S 'of changing track' H Substituting the time into formula 9 again, and calculating to obtain the lane change time T' H . Thus far, the lane change position S 'is calculated' H And track change time T' H 。
S3, judging the lane change position S' H Distance S to the start of the target lane H Whether it is less than or equal to the length L of the target lane. If yes, executing the following S4; otherwise, S107 is performed.
Distance S from lane change position to start of target lane H When the length L of the target lane is not exceeded, it is indicated that the lane change position is in the target lane, and the request for changing the lane to the target lane is satisfied, so the vehicle can change the lane, and the following S4 is performed. Distance S from lane change position to start of target lane H When the length L of the target lane is exceeded, it is indicated that the lane change position is not already in the target lane, and the request for changing the lane to the target lane is not satisfied, so the vehicle needs to continue to travel in the current lane keeping, and S107 is performed.
S4, according to the lane change speed V' H And a lane change position S' H The lane change acceleration a is determined.
Due to the current speed V of the target vehicle H Distance S from the current position of the target vehicle to the start end of the target lane H It can be seen that the lane change speed V 'determined in S3 is combined' H And a lane change position S' H The lane change acceleration a can be calculated by the following formula:
Figure BDA0003391615870000104
after determining the lane-change acceleration a, in conjunction with equation 2 of the above embodiment, it is necessary to determine whether the lane-change acceleration a is greater than or equal to the maximum safe braking deceleration a that the target vehicle is permitted to provide min And whether the lane change acceleration is less than or equal to the maximum acceleration a allowed to be provided by the target vehicle max 。
S5, judging whether the lane change acceleration a is greater than or equal to the maximum safe braking deceleration a allowed to be provided by the target vehicle min Whether or not it is less than or equal to the maximum acceleration a allowed to be provided by the target vehicle max 。
Lane changing accelerationa. Maximum safety brake deceleration a allowed to be provided by target vehicle min Maximum acceleration a allowed to be provided by target vehicle max There are three relationships between: a, a min ≤a≤a max 、a<a min 、a>a max An exemplary description will be developed below around these three relationships.
First relation: a, a min ≤a≤a max
When meeting a min ≤a≤a max If the target vehicle wants to successfully and safely change the lane to the target lane, the absolute time interval needs to be kept between the front and rear vehicles of the candidate entering gap of the target lane. Therefore, it is necessary to first determine the lane change position S' H And track change time T' H Determining an absolute time T between a target vehicle and a lead vehicle of a candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs . In addition, at V A <V B The relative time interval T between the target vehicle and the rear vehicle of the candidate entry gap is also determined Brel 。
The calculations according to the above embodiments result in: candidate entry gap lead speed V A Rear vehicle speed V of candidate entry gap B Distance S from leading vehicle of candidate entry gap to start of target lane A Distance S from the rear vehicle of the candidate entry gap to the start of the target lane B Speed V 'of changing track' H Lane change position S' H Track change time T' H Substituting these parameters into the above formulas 5-7 to calculate the absolute time distance T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Relative time distance T between target vehicle and rear vehicle of candidate entry gap Brel 。
When V is A ≥V B For safety reasons, the road side equipment needs to determine the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs In the case of (2), the following scheme 1 or scheme 2 may be employed to guide the vehicle to change lanes; otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
When V is A <V B For safety reasons, the road side equipment is required to judge the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs It is also necessary to determine the relative time T between the target vehicle and the following vehicle of the candidate entry gap Brel Whether or not it is greater than or equal to a minimum relative safety time interval T rel . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs ，T Brel ≥T rel In the case of (2), the following scheme 1 or scheme 2 may be employed to guide the vehicle to change lanes; otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
Scheme 1: guiding the target vehicle at the current position S H The lane changes immediately.
In particular, the road side device will change the track position S' H Redetermining to the current location of the target vehicle (i.e., S' H ＝S H ) Track change time T' H Redetermined to 0 (i.e., T' H =0). Then, a second message is sent to the target vehicle to guide the target vehicle to change lanes. The second message includes: lane change speed V' H Lane change acceleration a, redetermined lane change position S' H Redefined lane change time T' H 。
In this scheme, by changing the track position S' H Redetermining the current position of the target vehicle and the lane change time T' H And the current position is determined to be 0 again, and the target vehicle can be guided to immediately change the track at the current position, so that the track changing efficiency is improved.
Scheme 2: guiding the target vehicle to the vehicleDetermined lane change position S' H And track change time T' H Lane changing.
If the target vehicle needs to accelerate or decelerate to the lane change speed V' H In this process, the target vehicle needs to keep a safe time distance from both the front and rear vehicles of the current lane.
Assuming an absolute time interval T between a target vehicle and a preceding vehicle of the target vehicle in a current lane Cabs T for representing absolute time interval between target vehicle and rear vehicle of target vehicle in current lane Dabs Representing the distance S from the front vehicle of the target vehicle in the current lane to the starting end of the target lane C Representing the distance S from the rear vehicle of the target vehicle in the current lane to the starting end of the target lane D V for representing the speed of the preceding vehicle of the target vehicle in the current lane C V for representing the speed of a rear vehicle of a target vehicle in a current lane D Meaning that the following relationship exists:
Figure BDA0003391615870000121
Figure BDA0003391615870000122
acquiring an absolute time distance T between a target vehicle and a preceding vehicle of a current lane according to formulas 12 and 13 Cabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Dabs Then, the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap is required to be judged Cabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Dabs Whether all are greater than or equal to the minimum absolute safety time distance T abs 。
If T Cabs ≥T abs And T is Dabs ≥T abs The target vehicle maintains a safe time interval with the front and rear vehicles of the current lane so that the roadside apparatus may transmit a second message to the target vehicle to guide the target vehicle to change lanes. The second message includes: lane change speed V' H Lane changing acceleration a, lane changing positionS 'is set' H Track change time T' H 。
The second relationship:
when meeting a<a min In the time-course of which the first and second contact surfaces, the lane change acceleration a can be reset to the maximum safe braking deceleration a min I.e. a=a min 。
Let a=a min Substituting the above equation 3, the following relationship is obtained:
Figure BDA0003391615870000123
due to the lane change speed V' H Current speed V of target vehicle H Distance S from the current position of the target vehicle to the start end of the target lane H As is known, the lane change position S 'is thus calculated using equation 14' H . And then the redetermined lane change position S' H Substituting formula 9 to calculate the lane change time T' H 。
If the target vehicle wants to successfully and safely change the lane to the target lane, absolute time intervals are required to be kept between the front and rear vehicles which enter the gap with the candidate of the target lane. Therefore, the road side device needs to determine the absolute time distance T between the target vehicle and the preceding vehicle of the candidate entry gap according to the redetermined lane change position and lane change time Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs . In addition, at V A <V B The relative time interval T between the target vehicle and the rear vehicle of the candidate entry gap is also determined Brel 。
The calculations according to the above embodiments result in: candidate entry gap lead speed V A Rear vehicle speed V of candidate entry gap B Distance S from leading vehicle of candidate entry gap to start of target lane A Distance S from the rear vehicle of the candidate entry gap to the start of the target lane B Speed V 'of changing track' H Redetermined lane change position S' H Redefined lane change time T' H Substituting these parameters into the above formulas 5-7 to calculate the absolute time distance T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Relative time distance T between target vehicle and rear vehicle of candidate entry gap Brel 。
When V is A ≥V B For safety reasons, the road side equipment needs to determine the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs May send a second message to the target vehicle that directs the lane change, the second message comprising: lane change speed V' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
When V is A <V B For safety reasons, the road side equipment is required to judge the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs It is also necessary to determine the relative time T between the target vehicle and the following vehicle of the candidate entry gap Brel Whether or not it is greater than or equal to a minimum relative safety time interval T rel . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs ，T Brel ≥T rel May send a second message to the target vehicle that directs the lane change, the second message comprising: lane change speed V' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
Further, in transmitting the lane change speed V 'to the target vehicle' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H Before these parameters, the target vehicle needs to accelerate or decelerate to the lane change speed V' H In this process, the target vehicle needs to keep a safe time interval with both the front vehicle and the rear vehicle of the current lane, so the lane change guiding method provided by the embodiment of the application may further include:
and judging whether the safety time interval is kept between the target vehicle and the front and rear vehicles of the current lane. If T Cabs ≥T abs And T is Dabs ≥T abs The target vehicle maintains a safe time interval with the front and rear vehicles of the current lane and thus a second message may be sent to the target vehicle to guide the target vehicle to change lanes.
It should be noted that, for a specific implementation manner of determining whether the front and rear vehicles of the target vehicle and the current lane keep the safe time interval, reference may be made to descriptions related to the formula 12 and the formula 13 in the above first relationship, which are not repeated herein. It will be appreciated that in calculating the absolute time distance T of the target vehicle from the preceding vehicle of the current lane Cabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Dabs When the redefined lane change position S 'should be used' H Redefined lane change time T' H 。
Third relation:
when meeting a>a max In the time-course of which the first and second contact surfaces, the lane change acceleration a can be reset to the maximum safe braking deceleration a max I.e. a=a max 。
Let a=a max Substituting the above equation 3, the following relationship is obtained:
Figure BDA0003391615870000141
due to the lane change speed V' H Current speed V of target vehicle H Distance S from the current position of the target vehicle to the start end of the target lane H Known in the art, this isThe lane change position S 'is calculated by equation 15' H . And then the redetermined lane change position S' H Substituting formula 9 to calculate the lane change time T' H 。
If the target vehicle wants to successfully and safely change the lane to the target lane, absolute time intervals are required to be kept between the front and rear vehicles which enter the gap with the candidate of the target lane. Therefore, it is necessary to determine the absolute time distance T between the target vehicle and the preceding vehicle of the candidate entry gap based on the re-determined lane change position and lane change time Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs . In addition, at V A <V B The relative time interval T between the target vehicle and the rear vehicle of the candidate entry gap is also determined Brel 。
The calculations according to the above embodiments result in: candidate entry gap lead speed V A Rear vehicle speed V of candidate entry gap B Distance S from leading vehicle of candidate entry gap to start of target lane A Distance S from the rear vehicle of the candidate entry gap to the start of the target lane B Speed V 'of changing track' H Redetermined lane change position S' H Redefined lane change time T' H Substituting these parameters into the above formulas 5-7 to calculate the absolute time distance T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Relative time distance T between target vehicle and rear vehicle of candidate entry gap Brel 。
When V is A ≥V B For safety reasons, the road side equipment needs to determine the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs May send a second message to the target vehicle that directs the lane change, the second message comprising: lane change speed V' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
When V is A <V B For safety reasons, the road side equipment is required to judge the absolute time interval T between the target vehicle and the preceding vehicle of the candidate entry gap Aabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Babs Whether all are greater than or equal to the minimum absolute safety time distance T abs It is also necessary to determine the relative time T between the target vehicle and the following vehicle of the candidate entry gap Brel Whether or not it is greater than or equal to a minimum relative safety time interval T rel . At the satisfaction of T Aabs ≥T abs ，T Babs ≥T abs ，T Brel ≥T rel May send a second message to the target vehicle that directs the lane change, the second message comprising: lane change speed V' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, it is necessary to continue searching whether there is a candidate entry gap satisfying the preset condition in the gap located behind the ith gap in the target lane, that is, executing S107 described above.
Further, the road side device transmits the lane change speed V 'to the target vehicle' H Redetermined lane change acceleration a min Redetermined lane change position S' H Redefined lane change time T' H Before these parameters, the target vehicle needs to accelerate or decelerate to the lane change speed V' H In this process, the target vehicle needs to keep a safe time interval with both the front vehicle and the rear vehicle of the current lane, so the lane change guiding method provided by the embodiment of the application may further include:
and judging whether the safety time interval is kept between the target vehicle and the front and rear vehicles of the current lane. If T Cabs ≥T abs And T is Dabs ≥T abs Then the target vehicle maintains a safe time interval with the front and rear vehicles of the current lane, so that a second message can be sent to the target vehicle toGuiding the target vehicle to change lanes.
It should be noted that, for a specific implementation manner of determining whether the front and rear vehicles of the target vehicle and the current lane keep the safe time interval, reference may be made to descriptions related to the formula 12 and the formula 13 in the above first relationship, which are not repeated herein. It will be appreciated that in calculating the absolute time distance T of the target vehicle from the preceding vehicle of the current lane Cabs Absolute time distance T between target vehicle and rear vehicle of candidate entry gap Dabs When the redefined lane change position S 'should be used' H Redefined lane change time T' H 。
According to the method and the device for guiding the vehicle to accurately change the lane in the shortest time under the premise of ensuring traffic safety, the best lane changing time is prevented from being missed, and the traffic efficiency and the safety of the vehicle lane changing are improved. The lane change guiding algorithm has strong universality, and is suitable for the situation that one vehicle exists in each of the own lane and the target lane and the situation that a plurality of vehicles exist in each of the own lane and the target lane; the method is suitable for the situation that all traffic participants are provided with the vehicle-mounted units, and is also suitable for the situation that other vehicles except the main vehicle are not provided with the vehicle-mounted units; the method is suitable for the situation that the main vehicle changes lanes on the common lanes and is also suitable for the situation that the main vehicle enters the main road on the expressway ramp.
Fig. 3 is a schematic structural diagram of a road side fusion sensing system according to an embodiment of the present application. The system comprises an on-board unit (OBU) and a Road Side Unit (RSU). The vehicle-mounted device comprises a communication module 31, a vehicle information acquisition module 32 and an information display module 33. The roadside device includes a communication module 34, a sensing detection module 35, and a control module 36.
The vehicle information acquisition module 32 is configured to acquire status information of the vehicle itself in real time, including: position information, speed information, angular speed information, heading angle information, and the like.
The communication module 31 is configured to perform real-time information interaction and sharing with the roadside device, and includes sending the state information and the service request information of the host vehicle to the roadside device in real time, and receiving the guidance service information sent by the roadside device. The communication module 31 may be a wireless communication module.
The information display module 33 is configured to display, in real time, the guidance information sent by the roadside apparatus and the status information of the vehicle itself, for reference by the driver. For example, the information display module 33 presents the vehicles around the vehicle in the form of a two-dimensional or three-dimensional map, and marks the vehicle gap, lane change position, etc. in the form of an arrow, a box, etc., so that the driver can smoothly complete lane change based on the information.
The wireless communication module 34 is configured to interact and share real-time information with a vehicle carrying an on-board device, and includes: and receiving service request information and real-time state information sent by the vehicle-mounted equipment, and sending guide service information to the vehicle-mounted equipment. The communication module 34 may be a wireless communication module.
The sensing module 35 includes radar sensors, vision sensors, etc. for acquiring traffic information, such as congestion of surrounding roads, speed of surrounding vehicles, or surrounding weather, etc., in real time.
The control module 36 is configured to integrate, analyze and quickly calculate the service request information sent by the vehicle-mounted device and the traffic information sensed by the sensing detection module 35, form an accurate guiding control instruction, and then send the control instruction to the vehicle-mounted device through the communication module 34, so as to guide the vehicle to perform safe and efficient traffic behavior.
For example, a message requesting a lane change to a target lane is sent from an in-vehicle device of a target vehicle to a roadside device. If it is desired to change lanes to the target lane while the target vehicle is traveling along the current lane, a first message requesting to change lanes to the target lane may be transmitted to the communication module 34 of the roadside apparatus through the communication module 31 of the in-vehicle apparatus. After the communication module 34 receives the first message, the control module 36 determines the ith gap as a candidate entry gap in the target lane in response to the first message if the ith gap located behind the target vehicle satisfies a preset condition; and determining a target parameter based on the candidate import gap, wherein the preset condition is: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval; the target parameter includes a lane change position. If the target parameter meets the target vehicle entry candidate entry gap condition, the communication module 34 sends a second message to the target vehicle to direct the lane change, the second message including the target parameter. Where i is an integer which starts from 1.
It should be noted that, the road side device provided in this embodiment may execute the above method embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
Fig. 4 is a schematic structural diagram of a road side fusion sensing system according to another embodiment of the present application. As shown in fig. 4, the system comprises a processor 41 and a memory 42, the processor 41 being coupled to the memory 42, the processor 41 being adapted to execute a computer program or instructions stored in the memory 42 to cause the system to perform a lane change guiding method as provided in the method embodiments described above.
The processor may be a central processing unit (central processing unit, CPU), which may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit, such as a hard disk or memory, in some embodiments. The memory may also be an external storage device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, etc. Further, the memory may also include both internal storage units and external storage devices. The memory is used to store an operating system, application programs, boot loader programs, data, and other programs, etc., such as program code for a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
The road side fusion perception system provided by the embodiment can execute the method of the method embodiment, and when the vehicle runs along the current lane, if the vehicle wants to change the lane to the target lane, the road side fusion perception system can send a lane change request message to the road side equipment. After the road side equipment receives the lane changing information, a candidate entry gap with the time interval of a front vehicle and a rear vehicle being greater than or equal to the minimum safe entry gap time interval is sequentially searched in a gap positioned at the rear of the vehicle in a target lane from front to back; at least one parameter, such as a lane change position from the current lane to the target lane, is then determined based on the candidate entry gap. Then, in the case where the at least one parameter satisfies the condition of the afflux gap, the roadside apparatus may transmit the at least one parameter of the guide lane change to the vehicle so that the vehicle may perform the lane change according to the at least one parameter. In addition, if no appropriate entry gap is found, the road side device can guide the vehicle to continue to move forward, wait for new lane change time, and guide the vehicle to change lanes according to the method under the condition that the conditions are met. In this way, the accurate lane change of the vehicle guided by the road side equipment is realized.
The embodiment of the application further provides a readable storage medium, and the readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the embodiment of the method for determining the vehicle axle number can be implemented, and the same technical effects can be achieved, so that repetition is avoided, and no redundant description is provided herein. Among them, a computer-readable storage medium such as a read-only Memory (ROM), a random access Memory (random access Memory, RAM), a magnetic disk, an optical disk, or the like.
Those of ordinary skill in the art will appreciate that the elements and steps of the examples described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Furthermore, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application, or the part contributing to the prior art, or the part of the technical solution, may be embodied in the form of a computer software product stored in a storage medium, the computer software product comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (11)

1. A lane change guiding method, the method comprising:
receiving a first message sent by a target vehicle and requesting lane changing to a target lane, wherein the specified vehicle running direction of the target lane is the same as the running direction of the target vehicle;
in response to the first message, determining an ith gap located behind the target vehicle in the target lane as a candidate entry gap if the ith gap satisfies a preset condition that: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval;
Determining a target parameter based on the candidate entry gap, wherein the target parameter comprises a lane change position, and the lane change position is a position of the target vehicle entering the target lane from the current lane;
if the target parameter meets the condition that the target vehicle enters the candidate entry gap, sending a second message for guiding the lane change to the target vehicle, wherein the second message comprises the target parameter;
where i is an integer which starts from 1.
2. The method of claim 1, wherein the target parameters further comprise at least one of: lane change speed, lane change acceleration, lane change time; the lane change speed is the running speed of the target vehicle after the lane change of the target lane; the lane change acceleration is the acceleration of the target vehicle from the current speed to the lane change speed; the lane change time is the time taken by the target vehicle to travel from the current position to the lane change position;
correspondingly, the determining the target parameter based on the candidate import gap includes:
determining the lowest speed of the front vehicle speed and the rear vehicle speed of the candidate entry gap as the lane change speed based on the candidate entry gap;
Determining the lane change position and the lane change time according to the lane change speed;
and if the distance from the lane change position to the starting end of the target lane is smaller than or equal to the length of the target lane, determining the lane change acceleration according to the lane change speed and the lane change position.
3. The method of claim 2, wherein the determining a target parameter based on the candidate entry gap further comprises:
if the lane change acceleration is greater than or equal to the maximum safe braking deceleration allowed to be provided by the target vehicle and the lane change acceleration is less than or equal to the maximum acceleration allowed to be provided by the target vehicle, determining an absolute time interval between the target vehicle and a front vehicle of the candidate entry gap and an absolute time interval between the target vehicle and a rear vehicle of the candidate entry gap according to the lane change position and the lane change time;
and if the target parameter meets the condition that the target vehicle enters the candidate entry gap, sending a second message for guiding the lane change to the target vehicle, wherein the second message comprises the following steps:
if the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to the minimum absolute safety time interval, executing any one of the following steps:
Re-determining the lane change position as the current position of the target vehicle, re-determining the lane change time as 0, and sending the second message to the target vehicle, wherein the second message comprises: lane change speed, lane change acceleration, redetermined lane change position, redetermined lane change time;
or alternatively, the process may be performed,
acquiring an absolute time interval between the target vehicle and a front vehicle of a current lane and an absolute time interval between the target vehicle and a rear vehicle of the candidate entry gap, and sending the second message to the target vehicle when the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap and the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to a minimum absolute safety time interval, wherein the second message comprises: lane change speed, lane change acceleration, lane change position, lane change time.
4. The method of claim 3, wherein, in the event that the lead vehicle speed of the candidate entry gap is less than the following vehicle speed, the target parameters further comprise: a relative time interval between the target vehicle and a rear vehicle of the candidate entry gap;
the target parameter satisfies a condition that the target vehicle enters the candidate entry gap, and further includes: the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap is greater than or equal to the minimum relative safe time interval.
5. The method of claim 2, wherein the determining a target parameter based on the candidate entry gap further comprises:
if the lane changing acceleration is smaller than the maximum safe braking deceleration allowed to be provided by the target vehicle under the condition that the front vehicle speed of the candidate entry gap is greater than or equal to the rear vehicle speed, resetting the lane changing acceleration to the maximum safe braking deceleration, and re-determining the lane changing position and the lane changing time according to the maximum safe braking deceleration; or if the lane change acceleration is greater than the maximum acceleration allowed to be provided by the target vehicle, resetting the lane change acceleration to the maximum acceleration allowed to be provided by the target vehicle, and re-determining the lane change position and the lane change time according to the maximum acceleration allowed to be provided by the target vehicle;
determining an absolute time interval between the target vehicle and a front vehicle of the candidate entry gap and an absolute time interval between the target vehicle and a rear vehicle of the candidate entry gap according to the re-determined lane change position and lane change time;
and if the target parameter meets the condition that the target vehicle enters the candidate entry gap, sending a second message for guiding the lane change to the target vehicle, wherein the second message comprises the following steps:
If the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap, the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to the minimum absolute safety time interval, and the distance from the lane change position to the starting end of the target lane is determined to be less than or equal to the length of the target lane, sending the second message to the target vehicle, wherein the second message comprises: lane change speed, redetermined lane change acceleration, redetermined lane change position, redetermined lane change time.
6. The method of claim 2, wherein the determining a target parameter based on the candidate entry gap further comprises:
if the lane changing acceleration is smaller than the maximum safe braking deceleration allowed to be provided by the target vehicle under the condition that the front vehicle speed of the candidate entry gap is smaller than the rear vehicle speed, resetting the lane changing acceleration to the maximum safe braking deceleration, and re-determining the lane changing position and the lane changing time according to the maximum safe braking deceleration; or if the lane change acceleration is greater than the maximum acceleration allowed to be provided by the target vehicle, resetting the lane change acceleration to the maximum acceleration allowed to be provided by the target vehicle, and re-determining the lane change position and the lane change time according to the maximum acceleration allowed to be provided by the target vehicle;
Determining an absolute time interval between the target vehicle and a front vehicle of the candidate entry gap, an absolute time interval between the target vehicle and a rear vehicle of the candidate entry gap, and a relative time interval between the target vehicle and the rear vehicle of the candidate entry gap according to the re-determined lane change position and lane change time;
and if the target parameter meets the condition that the target vehicle enters the candidate entry gap, sending a second message for guiding the lane change to the target vehicle, wherein the second message comprises the following steps:
if the absolute time interval between the target vehicle and the front vehicle of the candidate entry gap, the absolute time interval between the target vehicle and the rear vehicle of the candidate entry gap are all greater than or equal to the minimum absolute safety time interval, the relative time interval between the target vehicle and the rear vehicle of the candidate entry gap is greater than or equal to the minimum relative safety time interval, and the redetermined distance from the lane change position to the beginning end of the target lane is less than or equal to the length of the target lane, the second message is sent to the target vehicle, and the second message includes: lane change speed, redetermined lane change acceleration, redetermined lane change position, redetermined lane change time.
7. The method of claim 1, wherein after the determining the ith gap as a candidate import gap, the method further comprises:
if the target parameter does not meet the condition that the target vehicle enters the candidate entering gap, continuously searching the candidate entering gap meeting the preset condition in the gap behind the ith gap in the target lane.
8. The method of claim 7, wherein the method further comprises:
and sending a third message for keeping forward to the target vehicle under the condition that the candidate entry gap meeting the preset condition is not found in the target lane.
9. The road side equipment is characterized by comprising a communication module and a control module;
the communication module is used for receiving a first message which is sent by a target vehicle and is used for requesting lane changing to a target lane, and the specified vehicle running direction of the target lane is the same as the running direction of the target vehicle;
the control module is used for responding to the first message, and determining an ith gap positioned behind the target vehicle in the target lane as a candidate entering gap if the ith gap meets a preset condition; determining a target parameter based on the candidate import gap; wherein, the preset conditions are as follows: the time interval between the front vehicle and the rear vehicle of the gap is greater than or equal to the minimum safety convergence gap time interval; the target parameters comprise lane change positions, wherein the lane change positions are positions at which the target vehicle enters the target lane from the current lane;
The communication module is further configured to send a second message for guiding the lane change to the target vehicle if the target parameter meets a condition that the target vehicle enters the candidate entry gap, where the second message includes the target parameter;
where i is an integer which starts from 1.
10. A roadside fusion awareness system comprising a processor and a memory, the processor being coupled to the memory, the processor being operable to execute a computer program or instructions stored in the memory to cause the roadside fusion awareness system to perform the lane change guidance method of any one of claims 1 to 8.
11. A storage medium having stored thereon a computer program to be loaded by a processor for performing the lane change guiding method of any one of claims 1 to 8.
CN202111470264.XA 2021-12-03 2021-12-03 Lane changing guiding method, road side equipment, system and storage medium Pending CN116229758A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116691688A (en) * 2023-07-31 2023-09-05 福思(杭州)智能科技有限公司 Vehicle lane change track stitching method, device and domain controller

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116691688A (en) * 2023-07-31 2023-09-05 福思(杭州)智能科技有限公司 Vehicle lane change track stitching method, device and domain controller
CN116691688B (en) * 2023-07-31 2023-11-14 福思(杭州)智能科技有限公司 Vehicle lane change track stitching method, device and domain controller

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