CN117104235A - Auxiliary lane changing method and device for vehicle, vehicle and storage medium - Google Patents
Auxiliary lane changing method and device for vehicle, vehicle and storage medium Download PDFInfo
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- CN117104235A CN117104235A CN202311243271.5A CN202311243271A CN117104235A CN 117104235 A CN117104235 A CN 117104235A CN 202311243271 A CN202311243271 A CN 202311243271A CN 117104235 A CN117104235 A CN 117104235A
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000006870 function Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 8
- 230000006399 behavior Effects 0.000 description 5
- 230000033764 rhythmic process Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005094 computer simulation Methods 0.000 description 1
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Classifications
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/043—Identity of occupants
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road
Abstract
The application provides an auxiliary lane changing method and device for a vehicle, the vehicle and a storage medium, wherein the method is applied to the technical field of vehicles and comprises the following steps: acquiring identity information of a user, the current road type of a vehicle and the current speed of the vehicle; when the vehicle meets a preset auxiliary lane change condition, determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed; and controlling the vehicle to complete lane changing according to the optimal lane changing time difference. The method can solve the problem that the security and experience of the user are affected by the time difference of starting lane change after receiving the user lighting signal in the intelligent auxiliary driving at the present stage, and the lane change time used by the user is used in the auxiliary lane change, so that the security, the trust and the user experience of the user are enhanced.
Description
Technical Field
The present application relates to the field of vehicle technology, and more particularly, to an auxiliary lane change method, apparatus, vehicle, and storage medium for a vehicle in the field of vehicle technology.
Background
The auxiliary Lane changing (also called intelligent auxiliary Lane changing, driving lever Lane changing, lighting Lane changing, ALC (automatic Lane changing auxiliary system) and the like) functions are common driving auxiliary functions of the intelligent automobile, and under the premise of Lane keeping function, when a user turns on a left or right steering indicator lamp, the automobile automatically detects the road environment, and under the condition of safe road environment, the transverse acceleration of the automobile is automatically adjusted to finish Lane changing.
In the related art, there are generally two strategies for the time point of lane change: one is to set a fixed time difference according to the driving style of the vehicle type; another is to allow the user to preset a fixed time difference in advance.
However, users have different driving habits on the rhythm of turning on the light and changing the lane, some users turn on the lane after turning on the light for a few seconds, some users initiate lane changing even while turning on the light under the condition of allowing road conditions, and the two strategies cannot meet different experience requirements of different users and need to be solved.
Disclosure of Invention
The application provides an auxiliary lane changing method and device for a vehicle, the vehicle and a storage medium, and the method can be used for intelligently assisting the problem that the time difference of lane changing after receiving a user lighting signal can influence the safety feeling and experience feeling of a user in the current stage, and the lane changing time used by the user is used during assisting lane changing, so that the safety feeling, the trust degree and the user experience of the user are enhanced.
In a first aspect, there is provided an auxiliary lane-changing method for a vehicle, comprising the steps of:
acquiring identity information of a user, the current road type of a vehicle and the current speed of the vehicle;
when the vehicle meets a preset auxiliary lane change condition, determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed; and
and controlling the vehicle to finish lane changing according to the optimal lane changing time difference.
Through the technical scheme, the time difference of turning light lane changing when the user manually drives can be learned based on the driving habits of different users, and the lane changing time difference of the user habits is used when the lane changing is assisted, so that the safety feeling, the trust degree and the user experience of the user are enhanced.
With reference to the first aspect, in some possible implementations, the determining the optimal lane change time difference of the user according to the identity information, the current road type, and the current vehicle speed includes:
judging whether the identity information exists in a preset identity database;
if the identity information exists in the preset identity database, extracting a plurality of lane changing scenes corresponding to the identity information from the identity database, wherein each lane changing scene corresponds to a unique road type, vehicle speed and lane changing time difference;
and according to the current road type and the current vehicle speed, matching the optimal lane change time difference from the lane change scenes.
Through the technical scheme, the optimal lane change time difference of the user under the conditions of the corresponding road type and the vehicle speed can be matched according to the identity information of the current user, so that the driving experience of the user is improved.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after determining whether the identity information exists in the preset identity database, the method further includes:
and if the identity information does not exist in the preset identity database, taking the preset lane change time difference as the optimal lane change time difference.
By the technical scheme, under the condition that the identity information of the current user cannot be queried, the preset lane change time difference can be used as the optimal lane change time difference to control the vehicle to change lanes.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, before determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed, the method further includes:
for each lane change of the user, acquiring the road type during lane change, the instantaneous vehicle speed when turning on a steering lamp, the first moment when turning on the steering lamp and the second moment when turning the steering wheel;
calculating the difference between the second moment of turning the steering wheel and the first moment of turning on the steering lamp aiming at each lane change of the user to obtain a plurality of lane change time differences to be learned;
and generating a plurality of lane changing scenes corresponding to the identity information based on the plurality of lane changing time differences to be learned, the road type of the lane changing corresponding to each lane changing time difference to be learned and the instantaneous vehicle speed of the turn light corresponding to each lane changing time difference to be learned.
Through the technical scheme, the road type, the instant speed when the turn light is turned on, the time point when the turn light is turned on and the time point when the steering wheel is turned on can be recorded and summarized for each lane change when a user manually drives, so that the lane change time difference to be learned when each lane change is calculated, and finally, a plurality of lane change scenes corresponding to the identity information are summarized.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, before acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the method further includes:
judging whether an auxiliary driving function of the vehicle is in an on state or not, and whether a steering lamp of the vehicle is in an on state or not;
and if the auxiliary driving function is in the on state and the turn signal lamp is in the on state, judging that the vehicle meets the preset auxiliary lane change condition.
Through the technical scheme, whether the current vehicle meets the preset auxiliary lane change condition can be judged, and lane change can be assisted only when the auxiliary lane change condition is met.
With reference to the first aspect and the foregoing implementation manner, in some possible implementation manners, after acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the method further includes:
and if the vehicle does not meet the preset auxiliary lane change condition, updating a plurality of lane change scenes corresponding to the identity information according to the identity information, the current road type and the current vehicle speed after the user finishes lane change.
Through the technical scheme, the lane changing habit of the user can be kept to be learned when the user drives manually, and a plurality of lane changing scenes corresponding to the identity information are updated in time after the user autonomously completes the lane changing operation so as to enhance the driving experience of the user.
In a second aspect, there is provided an auxiliary lane-changing apparatus for a vehicle, the apparatus comprising:
the acquisition module is used for acquiring the identity information of the user, the current road type of the vehicle and the current speed of the vehicle;
the determining module is used for determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed when the vehicle meets a preset auxiliary lane change condition; and
and the control module is used for controlling the vehicle to finish lane changing according to the optimal lane changing time difference.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, the determining module includes:
the judging unit is used for judging whether the identity information exists in a preset identity database;
the extraction unit is used for extracting a plurality of lane change scenes corresponding to the identity information from the identity database when the identity information exists in the preset identity database, wherein each lane change scene corresponds to a unique road type, vehicle speed and lane change time difference;
and the matching unit is used for matching the optimal lane change time difference from the lane change scenes according to the current road type and the current vehicle speed.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after determining whether the identity information exists in the preset identity database, the determining unit is further configured to:
and if the identity information does not exist in the preset identity database, taking the preset lane change time difference as the optimal lane change time difference.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, before determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed, the determining module is further configured to:
for each lane change of the user, acquiring the road type during lane change, the instantaneous vehicle speed when turning on a steering lamp, the first moment when turning on the steering lamp and the second moment when turning the steering wheel;
calculating the difference between the second moment of turning the steering wheel and the first moment of turning on the steering lamp aiming at each lane change of the user to obtain a plurality of lane change time differences to be learned;
and generating a plurality of lane changing scenes corresponding to the identity information based on the plurality of lane changing time differences to be learned, the road type of the lane changing corresponding to each lane changing time difference to be learned and the instantaneous vehicle speed of the turn light corresponding to each lane changing time difference to be learned.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, before acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the acquiring module is further configured to:
judging whether an auxiliary driving function of the vehicle is in an on state or not, and whether a steering lamp of the vehicle is in an on state or not;
and if the auxiliary driving function is in the on state and the turn signal lamp is in the on state, judging that the vehicle meets the preset auxiliary lane change condition.
With reference to the second aspect and the foregoing implementation manner, in some possible implementation manners, after acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the acquiring module is further configured to:
and when the vehicle does not meet the preset auxiliary lane change condition, updating a plurality of lane change scenes corresponding to the identity information according to the identity information, the current road type and the current vehicle speed after the user finishes lane change.
In a third aspect, there is provided a vehicle comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of the first aspect or any one of the possible implementation manners of the first aspect.
In a fourth aspect, a computer readable storage medium is provided, the computer readable storage medium storing computer program code which, when run on a computer, causes the computer to perform the method of the first aspect or any one of the possible implementations of the first aspect.
Drawings
FIG. 1 is a flow chart of an auxiliary lane-changing method for a vehicle according to an embodiment of the present application;
FIG. 2 is a block schematic diagram of an auxiliary lane-changing apparatus of a vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle according to an embodiment of the present application.
Detailed Description
The technical scheme of the application will be clearly and thoroughly described below with reference to the accompanying drawings. Wherein, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B: the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.
The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
The traditional auxiliary lane changing strategy mainly considers road safety conditions, finishes lane changing as soon as the road conditions allow, and lacks attention on comfort and experience of users. The users have different driving habits on the rhythm of turning on the light and changing the lane, some users can change the lane after turning on the light for a few seconds, and some users initiate lane changing even while turning on the light under the condition of the road condition permission. The time difference of starting lane change after the intelligent auxiliary driving receives the user lighting signal can influence the safety feeling and experience feeling of the user, and certain users feel unsafe when lane change is too fast, and certain users feel tugged and low in efficiency when lane change is too slow, so that a lane change auxiliary strategy capable of meeting the requirements of different users is needed.
Based on the above-mentioned problems, the embodiment of the application provides an auxiliary lane changing method for a vehicle, which can determine the optimal lane changing time difference of a user according to the identity information of the user, the current road type of the vehicle and the current speed of the vehicle when the vehicle meets the preset auxiliary lane changing condition, and further control the vehicle to complete lane changing according to the optimal lane changing time difference. The method can learn the behavior habit of changing lanes after the manual light-emitting of different users, simulate the driving styles of different users, solve the problem that the time difference of starting lane changing after receiving the light-emitting signal of the users in the current stage of intelligent auxiliary driving can influence the safety feeling and experience feeling of the users, and use the lane changing time of the habit of the users when assisting lane changing, thereby enhancing the safety feeling, the trust degree and the user experience of the users.
Fig. 1 is a flowchart of an auxiliary lane change method for a vehicle according to an embodiment of the present application.
Before introducing the auxiliary lane changing method of the vehicle provided by the embodiment of the application, the precondition related to the auxiliary lane changing method of the vehicle is described, namely the vehicle should have the functions of self-adaptive cruising, lane centering and auxiliary lane changing, and can replace a user to control the longitudinal acceleration and the transverse acceleration of the vehicle under the condition of condition permission, and drive in a lane line at a certain speed or along with the vehicle distance, and after the user turns on a left or right turn light, the vehicle can replace the user to finish lane changing operation.
Exemplary, as shown in fig. 1, the auxiliary lane-changing method of the vehicle includes the steps of:
in step S101, the identity information of the user, the current road type of the vehicle, and the current vehicle speed are acquired.
It should be noted that, the vehicle in the embodiment of the application has an account login function, and users with different identities can be identified by logging in different accounts, so as to obtain the identity information of the users; when the user logs in or verifies the identity and then manually drives the vehicle, the vehicle can acquire driving data of the current user, including the current road type and the current vehicle speed.
In step S102, when the vehicle satisfies a preset auxiliary lane change condition, an optimal lane change time difference of the user is determined according to the identity information, the current road type and the current vehicle speed.
That is, when the vehicle satisfies the preset auxiliary lane change condition under the current condition, the corresponding optimal lane change time difference may be determined according to the identified user identification information, the current road type of the vehicle, and the current vehicle speed.
Further, in some embodiments, determining the optimal lane change time difference for the user based on the identity information, the current road type, and the current vehicle speed includes: judging whether identity information exists in a preset identity database; if the identity information exists in the preset identity database, extracting a plurality of lane changing scenes corresponding to the identity information from the identity database, wherein each lane changing scene corresponds to a unique road type, vehicle speed and lane changing time difference; and matching the optimal lane change time difference from a plurality of lane change scenes according to the current road type and the current vehicle speed.
The preset identity database can be generated according to historical data analysis of the user.
Specifically, when the identity information of the current user exists in the preset identity database, a plurality of different lane changing scenes corresponding to the identity information can be extracted from the identity database, and as each lane changing scene corresponds to a unique road type, vehicle speed and lane changing time difference, the corresponding optimal lane changing time difference can be matched from the plurality of lane changing scenes according to the current road type and the current vehicle speed.
To facilitate further understanding by those skilled in the art, detailed descriptions are provided below of how to obtain multiple lane changing scenarios corresponding to identity information.
As one possible implementation, in some embodiments, before determining the optimal lane change time difference for the user according to the identity information, the current road type, and the current vehicle speed, the method further includes: aiming at each lane change of a user, acquiring the road type during lane change, the instantaneous vehicle speed when turning on a steering lamp, the first moment when turning on the steering lamp and the second moment when turning a steering wheel; calculating a difference value between a second moment of turning the steering wheel and a first moment of turning on the steering lamp aiming at each lane change of a user to obtain a plurality of lane change time differences to be learned; and generating a plurality of lane changing scenes corresponding to the identity information based on the plurality of lane changing time differences to be learned, the road type when the lane is changed corresponding to each lane changing time difference to be learned and the instantaneous vehicle speed when the turn light corresponding to each lane changing time difference to be learned is turned on.
It can be understood that, in order to improve the driving safety and experience of the user, in the embodiment of the application, when the user logs in or verifies the identity and then manually drives the vehicle, the driving data of the current user collected by the vehicle can also collect the current lane where the vehicle is located, the behavior of turning on the turn signal lamp and the corresponding time point of the current user, the turning start of the turn signal lamp and the corresponding time point of the current user, and the like, upload the collected driving data to the cloud and analyze the driving data, and calculate the time difference from turning on the turn signal lamp to turning start of the turn signal action of the current user under different road types and different vehicle speeds.
Specifically, marking each lane change behavior of the current user manually according to the turn-on behavior of the current user and the change condition of the lane where the current user is located; for each lane changing behavior, the road type (such as urban road, expressway, urban expressway, etc.), the instantaneous speed when turning on the steering lamp, the first moment when turning on the steering lamp and the second moment when turning the steering wheel need to be recorded; subtracting the turning-on time point (namely the first moment of turning on the steering lamp) from the turning-on time point (namely the second moment of turning on the steering wheel), so as to obtain a lane change time difference when the lane change is performed; continuously recording the lane change time difference when the user changes lanes each time, calculating an average value of the lane change time differences under the same road type and the same vehicle speed each time, obtaining the lane change time difference to be learned under the road type and the vehicle speed, and summarizing the lane change time differences to be learned under different road types and different vehicle speed conditions to obtain a plurality of lane change time differences to be learned; based on the multiple lane changing time differences to be learned, the road types of the lane changing corresponding to each lane changing time difference to be learned and the instant vehicle speed of the turn-on lamp corresponding to each lane changing time difference to be learned, multiple lane changing scenes corresponding to the identity information can be generated, so that a habit file of turning on the turn-on lamp lane changing by the user is formed, as shown in table 1.
TABLE 1
Therefore, the optimal lane change time difference of the current user in lane change can be obtained by matching from a plurality of lane change scenes according to the current road type and the current vehicle speed by inquiring the habit file of turning on the turn signal lane change by the user. Based on different rhythms and habits of different users in lane changing, the time difference between turning on of a turn signal lamp and turning of a steering wheel in different road types and different vehicle speed scenes when the users manually drive is recorded, and lane changing rhythms and habits of the users are used when the users automatically change lanes in an automatic driving state, so that the safety and the trust of the users are enhanced, and the user experience is optimized.
Further, in some embodiments, after determining whether the identity information exists in the preset identity database, the method further includes: if the identity information does not exist in the preset identity database, taking the preset lane change time difference as the optimal lane change time difference.
The preset lane change time difference may be obtained by calculating an average value according to a large amount of driving data by a person skilled in the art, may be obtained through limited experiments, or may be obtained through limited computer simulation, and is not particularly limited herein.
That is, if the current login account is a new account or the current user does not login account, that is, the identity information of the current user cannot be found in the preset identity database, the preset lane change time difference may be used as the optimal lane change time difference of the current user.
In step S103, the vehicle is controlled to complete the lane change operation according to the optimal lane change time difference.
And after the optimal lane change time difference is obtained, controlling the vehicle to perform lane change operation according to the obtained optimal lane change time difference.
Further, in some embodiments, before acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the method further includes: judging whether an auxiliary driving function of the vehicle is in an on state or not, and whether a turn signal lamp of the vehicle is in an on state or not; if the auxiliary driving function is in an on state and the turn signal lamp is in an on state, the vehicle is judged to meet the preset auxiliary lane change condition.
Specifically, the preset auxiliary lane change condition may include, but is not limited to, allowing lane change of the vehicle in which the vehicle is currently located, keeping a sufficient safe distance from the rear vehicle, turning on a turn signal lamp by a user, and the like.
Further, in some embodiments, after acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the method further includes: if the vehicle does not meet the preset auxiliary lane changing condition, after the user finishes lane changing, updating a plurality of lane changing scenes corresponding to the identity information according to the identity information, the current road type and the current vehicle speed.
It can be appreciated that the embodiment of the application can continuously learn the lane changing habit of the user when the user drives manually, namely, when the vehicle does not meet the preset auxiliary lane changing condition, the user can update a plurality of lane changing scenes corresponding to the identity information in time according to the identity information of the current user, the current road type and the current vehicle speed after the user completes the lane changing operation autonomously when driving manually, thereby improving the driving safety and experience of the user.
In summary, according to the auxiliary lane change method of the vehicle, when the vehicle meets the preset auxiliary lane change condition, the optimal lane change time difference of the user can be determined according to the identity information of the user, the current road type of the vehicle and the current vehicle speed, and then the vehicle is controlled to complete lane change according to the optimal lane change time difference. The method can solve the problem that the security and experience of the user are affected by the time difference of starting lane change after receiving the user lighting signal in the intelligent auxiliary driving at the present stage, and the lane change time used by the user is used in the auxiliary lane change, so that the security, the trust and the user experience of the user are enhanced.
Fig. 2 is a schematic block diagram of an auxiliary lane-changing device of a vehicle according to an embodiment of the present application.
Illustratively, as shown in fig. 2, the auxiliary lane-changing apparatus 10 of the vehicle includes: an acquisition module 100, a determination module 200 and a control module 300.
The acquiring module 100 is configured to acquire identity information of a user, a current road type of a vehicle, and a current vehicle speed;
the determining module 200 is configured to determine an optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed when the vehicle meets a preset auxiliary lane change condition; and
the control module 300 is used for controlling the vehicle to complete the lane change according to the optimal lane change time difference.
Further, in some embodiments, the determining module 200 includes:
the judging unit is used for judging whether the identity information exists in a preset identity database;
the extraction unit is used for extracting a plurality of lane changing scenes corresponding to the identity information from the identity database when the identity information exists in the preset identity database, wherein each lane changing scene corresponds to a unique road type, vehicle speed and lane changing time difference;
and the matching unit is used for matching and obtaining the optimal lane change time difference from a plurality of lane change scenes according to the current road type and the current vehicle speed.
Further, in some embodiments, after determining whether the identity information exists in the preset identity database, the determining unit is further configured to:
if the identity information does not exist in the preset identity database, taking the preset lane change time difference as the optimal lane change time difference.
Further, in some embodiments, before determining the optimal lane change time difference for the user based on the identity information, the current road type, and the current vehicle speed, the determining module 200 is further configured to:
aiming at each lane change of a user, acquiring the road type during lane change, the instantaneous vehicle speed when turning on a steering lamp, the first moment when turning on the steering lamp and the second moment when turning a steering wheel;
calculating a difference value between a second moment of turning the steering wheel and a first moment of turning on the steering lamp aiming at each lane change of a user to obtain a plurality of lane change time differences to be learned;
and generating a plurality of lane changing scenes corresponding to the identity information based on the plurality of lane changing time differences to be learned, the road type when the lane is changed corresponding to each lane changing time difference to be learned and the instantaneous vehicle speed when the turn light corresponding to each lane changing time difference to be learned is turned on.
Further, in some embodiments, before acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the acquisition module 100 is further configured to:
judging whether an auxiliary driving function of the vehicle is in an on state or not, and whether a turn signal lamp of the vehicle is in an on state or not;
if the auxiliary driving function is in an on state and the turn signal lamp is in an on state, the vehicle is judged to meet the preset auxiliary lane change condition.
Further, in some embodiments, after acquiring the identity information of the user, the current road type of the vehicle, and the current vehicle speed, the acquisition module 100 is further configured to:
if the vehicle does not meet the preset auxiliary lane changing condition, after the user finishes lane changing, updating a plurality of lane changing scenes corresponding to the identity information according to the identity information, the current road type and the current vehicle speed.
It should be noted that the foregoing explanation of the embodiment of the auxiliary lane changing method of the vehicle is also applicable to the auxiliary lane changing device of the vehicle of the embodiment, and will not be repeated here.
In summary, when the vehicle meets the preset auxiliary lane change condition, the auxiliary lane change device of the vehicle can determine the optimal lane change time difference of the user according to the identity information of the user, the current road type of the vehicle and the current speed of the vehicle, and further control the vehicle to complete lane change according to the optimal lane change time difference. The method can solve the problem that the security and experience of the user are affected by the time difference of starting lane change after receiving the user lighting signal in the intelligent auxiliary driving at the present stage, and the lane change time used by the user is used in the auxiliary lane change, so that the security, the trust and the user experience of the user are enhanced.
Fig. 3 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 301, processor 302, and a computer program stored on memory 301 and executable on processor 302.
The processor 302 implements the auxiliary lane change method of the vehicle provided in the above embodiment when executing the program.
Further, the vehicle further includes:
a communication interface 303 for communication between the memory 301 and the processor 302.
A memory 301 for storing a computer program executable on the processor 302.
The memory 301 may comprise high speed RAM (Random Access Memory ) memory, and may also comprise non-volatile memory, such as at least one disk memory.
If the memory 301, the processor 302, and the communication interface 303 are implemented independently, the communication interface 303, the memory 301, and the processor 302 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 301, the processor 302, and the communication interface 303 are integrated on a chip, the memory 301, the processor 302, and the communication interface 303 may perform communication with each other through internal interfaces.
The processor 302 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the auxiliary lane changing method of a vehicle as above.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. An auxiliary lane changing method of a vehicle is characterized by comprising the following steps:
acquiring identity information of a user, the current road type of a vehicle and the current speed of the vehicle;
when the vehicle meets a preset auxiliary lane change condition, determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed; and
and controlling the vehicle to finish lane changing according to the optimal lane changing time difference.
2. The method of claim 1, wherein said determining an optimal lane change time difference for the user based on the identity information, the current road type, and the current vehicle speed comprises:
judging whether the identity information exists in a preset identity database;
if the identity information exists in the preset identity database, extracting a plurality of lane changing scenes corresponding to the identity information from the identity database, wherein each lane changing scene corresponds to a unique road type, vehicle speed and lane changing time difference;
and according to the current road type and the current vehicle speed, matching the optimal lane change time difference from the lane change scenes.
3. The method of claim 2, further comprising, after determining whether the identity information is present in the preset identity database:
and if the identity information does not exist in the preset identity database, taking the preset lane change time difference as the optimal lane change time difference.
4. A method according to claim 2 or 3, characterized by, before determining the optimal lane change time difference for the user from the identity information, the current road type and the current vehicle speed, further comprising:
for each lane change of the user, acquiring the road type during lane change, the instantaneous vehicle speed when turning on a steering lamp, the first moment when turning on the steering lamp and the second moment when turning the steering wheel;
calculating the difference between the second moment of turning the steering wheel and the first moment of turning on the steering lamp aiming at each lane change of the user to obtain a plurality of lane change time differences to be learned;
and generating a plurality of lane changing scenes corresponding to the identity information based on the plurality of lane changing time differences to be learned, the road type of the lane changing corresponding to each lane changing time difference to be learned and the instantaneous vehicle speed of the turn light corresponding to each lane changing time difference to be learned.
5. The method of claim 4, further comprising, prior to obtaining the identity information of the user, the current road type of the vehicle, and the current vehicle speed:
judging whether an auxiliary driving function of the vehicle is in an on state or not, and whether a steering lamp of the vehicle is in an on state or not;
and if the auxiliary driving function is in the on state and the turn signal lamp is in the on state, judging that the vehicle meets the preset auxiliary lane change condition.
6. The method of claim 5, further comprising, after obtaining the identity information of the user, the current road type of the vehicle, and the current vehicle speed:
and if the vehicle does not meet the preset auxiliary lane change condition, updating a plurality of lane change scenes corresponding to the identity information according to the identity information, the current road type and the current vehicle speed after the user finishes lane change.
7. An auxiliary lane-changing apparatus for a vehicle, comprising:
the acquisition module is used for acquiring the identity information of the user, the current road type of the vehicle and the current speed of the vehicle;
the determining module is used for determining the optimal lane change time difference of the user according to the identity information, the current road type and the current vehicle speed when the vehicle meets a preset auxiliary lane change condition; and
and the control module is used for controlling the vehicle to finish lane changing according to the optimal lane changing time difference.
8. The apparatus of claim 7, wherein the determining module comprises:
the judging unit is used for judging whether the identity information exists in a preset identity database;
the extraction unit is used for extracting a plurality of lane change scenes corresponding to the identity information from the identity database when the identity information exists in the preset identity database, wherein each lane change scene corresponds to a unique road type, vehicle speed and lane change time difference;
and the matching unit is used for matching the optimal lane change time difference from the lane change scenes according to the current road type and the current vehicle speed.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the auxiliary lane change method of a vehicle as claimed in any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing an auxiliary lane change method of a vehicle according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311243271.5A CN117104235A (en) | 2023-09-25 | 2023-09-25 | Auxiliary lane changing method and device for vehicle, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311243271.5A CN117104235A (en) | 2023-09-25 | 2023-09-25 | Auxiliary lane changing method and device for vehicle, vehicle and storage medium |
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| CN117104235A true CN117104235A (en) | 2023-11-24 |
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| CN202311243271.5A Pending CN117104235A (en) | 2023-09-25 | 2023-09-25 | Auxiliary lane changing method and device for vehicle, vehicle and storage medium |
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| CN (1) | CN117104235A (en) |
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- 2023-09-25 CN CN202311243271.5A patent/CN117104235A/en active Pending
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