Summary of the invention
For this purpose, the embodiment of the present invention provides a kind of vehicle lane change method, drive test unit and storage medium, to solve existing skillIn art vehicle on highway when driving, how to guarantee the technical problem of lane change safety.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
According to a first aspect of the embodiments of the present invention, a kind of vehicle lane change method is provided, this method is held by roadside unitRow, comprising:
Receive the lane change request of the first vehicle transmission, include the corresponding parameter information of the first vehicle in lane change request withAnd target lane request；
According to the target lane information, the information of vehicles on the target lane is determined；
According to the target lane information and the information of vehicles in the target lane, determine first vehicle describedTravel speed on target lane；
According to the information of vehicles on the corresponding parameter information of first vehicle and the target lane, determine described inFirst vehicle was imported to the remittance time in the target lane；
To first vehicle send lane change execute instruction, the lane change execute instruction in include first vehicle importRemittance time and the travel speed on target lane when to the target lane.
Further, the corresponding parameter information of first vehicle includes:
Identification information corresponding with first vehicle, vehicle model information, current location information, the first driving speed information withAnd Vehicle length information.
Further, the vehicle according on the corresponding parameter information of first vehicle and the target laneInformation determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
When determining on the target lane there is an at least vehicle when driving, believed according to first current vehicle positionBreath determines that first vehicle imports the remittance point position in target lane；
It obtains i-th of vehicle that target lane uplink is sailed and reaches i-th time for importing point position；
According to the first current vehicle position information, the first driving speed information, determine that first vehicle reaches instituteState the first time for importing point position；
When determine the absolute difference between i-th time and the first time be less than or equal to preset time thresholdWhen, i-th of vehicle of Xiang Suoshu sends cooperation lane change and indicates information；
It is true according to the first time and the i-th time after the cooperation lane change for receiving i-th of vehicle feedback respondsThe fixed remittance time, wherein i is and to be less than or equal to all vehicles that target lane uplink is sailed more than or equal to 1Total numerical value.
Further, i-th for obtaining i-th of vehicle that target lane uplink is sailed and reaching remittance point positionTime specifically includes:
Obtain i-th of vehicle that target lane uplink is sailed the i-th location information and i-th of vehicle the i-th rowSail velocity information；
According to i-th location information, the position for importing point, i-th driving speed information, described i-th is determinedA vehicle reaches i-th time for importing point position.
Further, the cooperation lane change indicates information, comprising: the corresponding parameter information of first vehicle, with toiletIt states the i-th vehicle and information is indicated according to the cooperation lane change, when being determined as first vehicle and carrying out cooperation lane change, according to described theThe corresponding parameter information of one vehicle takes cooperation lane change operation.
Further, lane change execute instruction in further include i-th of vehicle identification information.
Further, the vehicle according on the corresponding parameter information of first vehicle and the target laneInformation determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
According to the first current vehicle position information, determine that first vehicle imports the remittance point in target laneIt sets；
When up to first vehicle driving to the remittance point position, traveling is still not present in the target laneWhen vehicle, directly to first vehicle send lane change execute instruction, the lane change execute instruction in include the remittance timeAnd the travel speed on target lane.
According to a second aspect of the embodiments of the present invention, a kind of vehicle lane change method is provided, this method is by first aspect instituteThe i-th vehicle in a kind of vehicle lane change method stated executes, this method comprises:
It receives the cooperation lane change that roadside unit is sent and indicates information, wherein the cooperation lane change indicates in information to include: theThe corresponding parameter information of the first vehicle that one vehicle is sent to the roadside unit；
Information is indicated according to the cooperation lane change, generates lane change response, and feed back to the roadside unit；
And when being determined as first vehicle and carrying out cooperation lane change, believed according to the corresponding parameter of first vehicleBreath takes collaboration lane change operation.
According to a third aspect of the embodiments of the present invention, provide a kind of roadside unit, the roadside unit include: processor andMemory；
Memory is for storing one or more program instructions；
Processor, for running one or more program instructions, to execute appointing in a kind of as above vehicle lane change methodOne method and step.
According to a fourth aspect of the embodiments of the present invention, a kind of computer storage medium is provided, the computer storage mediumIn comprising one or more program instructions, one or more program instructions are used to be executed a kind of as above vehicle by a kind of roadside unitMethod step either in lane change method.
The embodiment of the present invention has the advantages that when the first vehicle wishes to execute lane change operation, passes through vehicle-mounted list firstMember is established with roadside unit and is communicated to connect, and sends lane change request to roadside unit, includes that the first vehicle is corresponding in lane change requestParameter information and target lane information.Roadside unit determines the information of vehicles on target lane according to target lane information；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Finally, according to firstInformation of vehicles on the corresponding parameter information of vehicle and target lane, when determining that the first vehicle imports the remittance in target laneBetween.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle safety to import targetLane avoids and other automobile crash, guarantee driving safety.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanationContent disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention oneSection Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doingEvery other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
The embodiment of the present invention 1 provides a kind of vehicle lane change method, and this method corresponds to a kind of vehicle lane change system.This isSystem includes at least the first vehicle and roadside unit.Roadside unit is the roadside unit that communication connection is established with the first vehicle.Lane changeApplication scenarios include at least two kinds, the first is travelled for the first vehicle in ring road, i.e., main road will be driven into, referring specifically to shown in Fig. 1.Second is the first vehicle in main road traveling, i.e., adjacent lane will be driven into, referring specifically to the vehicle A shown in Fig. 2, in Fig. 1 and Fig. 2As the first vehicle.
For both the above application scenarios, a kind of vehicle lane change method provided in an embodiment of the present invention.This method is by tracksideUnit executes.It should be noted that, although the present embodiment only lists both the above application scenarios, but it is not limited only toBoth the above application scenarios can also include other application scenarios.And the principle of lane changing is same or similar, here only with oneBe illustrated for kind of application scenarios, such as with the first vehicle ring road traveling, i.e., by for the application scenarios for driving into main road to vehicleLane change method is illustrated, and other application scenarios are then identical as the execution method of the scene, or simply do adaptabilityAdjustment, does not do excessive explanation here.
Specifically as shown in figure 3, this method is since the roadside unit that the first vehicle establishes communication connection executes, specific steps are such asUnder:
Step 310, the lane change request that the first vehicle is sent is received.
First vehicle sends lane change request.Can be by the first on board unit in the first vehicle send lane change request toRoadside unit.It wherein, at least may include the corresponding parameter information of the first vehicle and target lane information in lane change request.
In a specific embodiment, the corresponding parameter information of the first vehicle includes but is not limited to: corresponding with the first vehicleIdentification information, vehicle model information, current location information, the first driving speed information, Vehicle length information.
Step 320, according to target lane information, the information of vehicles on target lane is determined.
Specifically, roadside unit can according to target lane information, to determine target lane that the first vehicle will import,Then the information of vehicles in target lane is first determined.For example, not having to have in vehicle driving or target lane in target laneMany vehicle drivings, there are the situations of traffic congestion.Or only have a small amount of vehicle driving etc. different feelings in target laneShape.
Step 330, according to target lane information and the information of vehicles in target lane, determine the first vehicle in target laneOn travel speed.
Travel speed on target lane is mainly determined according to the information of vehicles in target lane.It is referred herein in targetTravel speed on lane can be the maximum travelling speed of target lane restriction, be also possible to sail vehicle according to target lane uplinkTravel speed it is comprehensive determining.
For example, if on current goal lane there is no occur traffic congestion situation, all vehicles can with normally travel, then,Its travel speed cannot be more than the maximum travelling speed in target lane.If current traffic congestion, travel speed can be set to meshMark the average overall travel speed etc. of current vehicle on lane.It specifically may be set according to actual conditions, do not do excessive explanation here.
Step 340, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, first is determinedVehicle was imported to the remittance time in target lane.
Specifically, according to step 320 it is found that the information of vehicles in target lane there are a variety of situations.But by its according toUltimate attainment division, actually include is exactly two kinds of situations, and one kind is the presence of an at least vehicle traveling on target lane；Another kind isTarget does not have vehicle driving on lane.And mentioned here is not to be at every moment all without vehicle driving, but until firstWhen vehicle driving to target lane corresponding imports point position, the case where still there is no the vehicles of traveling on target lane.
Optionally, it is based on the first situation, according to the vehicle on the corresponding parameter information of the first vehicle and target laneInformation determines that the first vehicle was imported to the remittance time in target lane, specifically includes:
Step a determines that the first vehicle imports the remittance point position in target lane according to the first current vehicle position information.
Specifically, if target lane not only includes the remittance point position that can drive into A-road.So, it just needsLocation information that will be current according to the first vehicle, to determine that the first vehicle imports the remittance point position in target lane, it is preferred that canTo be that the first vehicle is allowed to drive into target lane, and the remittance point position that the first current vehicle position of distance is nearest.
Step b obtains i-th of vehicle (such as vehicle B or Fig. 1 or figure in Fig. 1 or Fig. 2 that target lane uplink is sailedOther vehicles in 2) reach the i-th time for importing point position.
Optionally, the i-th location information that uplink i-th of vehicle sailing in target lane be currently located, i-th vehicle are obtainedDriving speed information.After these information establish communication connection by i-th of vehicle and roadside unit, it is uploaded to roadside unit.
Further according to according to the i-th location information, the position for importing point, the i-th driving speed information, determine that i-th of vehicle reachesImport the i-th time of point position.It imports point position and i-th bit the distance between is set, the ratio between the i-th driving speed informationValue, was exactly the i-th time.
Step c determines that the first vehicle reaches and imports according to the first current vehicle position information, the first driving speed informationThe first time of point position.
The mode for obtaining first time is similar with the mode of the i-th time is obtained, and does not do excessive explanation here.
Step d, when determine the absolute difference between the i-th time and first time be less than or equal to preset time thresholdWhen, cooperation lane change, which is sent, to i-th of vehicle indicates information.
Specifically, if the i-th vehicle distances remittance point is also far, after the completion of the first vehicle lane change, the i-th vehicleAll there are no this position is driven to, then just It is not necessary to inform that the i-th vehicle needs to coordinate lane change.Alternatively, if the i-th vehicleIt is close that distance imports point, when the first vehicle reaches and imports point position, remittance point has already been crossed, also It is not necessary to inform theI vehicle coordinates lane change.And if the i-th vehicle the first vehicle reach import point when, just import point near, then just need intoRow coordinates the first vehicle lane change.The i-th vehicle is detected when the first vehicle reaches remittance point position, if importing near pointBest way exactly determines whether the absolute difference between the i-th time and first time is less than or equal to preset time threshold(such as 5s).If it is less than or be equal to preset time threshold, then according to the travel speed of the i-th vehicle, be known that naturallyWhether importing near point.
If just needing to send cooperation lane change instruction information to the i-th vehicle importing near point.
Optionally, it can include but is not limited to the corresponding parameter information of the first vehicle in cooperation lane change instruction information.So as toWhen the i-th vehicle indicates information according to the cooperation lane change, is determined as first vehicle and carries out cooperation lane change, according to described theThe corresponding parameter information of one vehicle takes cooperation lane change operation, such as the i-th vehicle can be when importing near point, and appropriate adjustment is certainlyThe operation such as the position of body or pre-decelerating concedes road and the first vehicle is allowed to complete lane change, to avoid and the first automobile crashThe case where.
It is further alternative, after the i-th vehicle makes appropriate adjustment according to cooperation lane change instruction information, trackside can be givenUnit sends cooperation lane change response.So, roadside unit is also used to execute step e, when the cooperation for receiving i-th of vehicle feedbackAfter lane change response, the time is imported according to determining at the first time with the i-th time.
Preferably, importing the time is exactly at the first time.Because this moment, the i-th vehicle has clearly known this moment firstVehicle can reach remittance point, will avoid automatically, therefore before making automatic evacuation, just issue lane change to roadside unitResponse.So the i-th vehicle can imported at the first time.
It is of course also possible to be setting at the first time plus preset time, this is primary concern is that if the i-th vehicle is firstTime has just crossed remittance point, at this time if the first vehicle drives into target lane into from remittance point, it is understood that there may be send out with the i-th vehicleThe risk of raw collision, therefore slightly after a period of time, then target lane can be imported into.Certainly, such case is also contemplated thatTo will not be clashed with posterior vehicle.It is specific to import the time, it may be set according to actual conditions, not do excessive theory hereIt is bright.Wherein, i is and to be less than or equal to the numerical value of all vehicle fleets that target lane uplink is sailed more than or equal to 1.ItsIn, cooperation lane change indicates information, including but not limited to: the corresponding parameter information of the first vehicle.
Second situation is believed according to the vehicle on the corresponding parameter information of first vehicle and the target laneBreath, determines that first vehicle was imported to the remittance time in the target lane, specifically includes:
According to the first current vehicle position information, determine that first vehicle imports the remittance point in target laneIt sets；
When up to first vehicle driving to the remittance point position, traveling is still not present in the target laneWhen vehicle, directly to first vehicle send lane change execute instruction, the lane change execute instruction in include the remittance timeAnd the travel speed on target lane.
Step 350, lane change is sent to the first vehicle to execute instruction.
Wherein, lane change execute instruction in include remittance time when the first vehicle is imported to target lane and in target carriageTravel speed on road.
Specifically, after determining the remittance time of the first vehicle, so that it may send lane change to the first vehicle and instruct, becomeRoad may include importing time and the travel speed on target lane in executing instruction.
It is further alternative, lane change execute instruction in can also include i-th of vehicle identification information.For the first vehicleV2X communication connection can be directly established with the i-th vehicle according to the identification information of the i-th vehicle, direct communication is completed to coordinate lane change.
Wherein, the identification information of the first vehicle and the i-th vehicle identification information all can be vehicle ID informations.
In another scene, the process that step 340 executes is specifically included: being believed according to first current vehicle positionBreath determines that first vehicle imports the remittance point position in target lane；
When until the first vehicle driving to when importing point position, when the vehicle of traveling is still not present in target lane, then roadSide unit then directly sends lane change to the first vehicle and executes instruction, lane change execute instruction in include importing time and in target carriageTravel speed on road.Importing the time is at the first time that the travel speed on target lane is the maximum in target laneRestricted driving speed.
A kind of vehicle lane change method provided in an embodiment of the present invention, when the first vehicle wishes to execute lane change operation, firstIt is established and is communicated to connect by board unit and roadside unit, and send lane change request to roadside unit, include the in lane change requestThe corresponding parameter information of one vehicle and target lane information.Roadside unit determines on target lane according to target lane informationInformation of vehicles；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.MostEventually, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target carriageThe remittance time in road.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle to pacifyIt is complete to import target lane, it avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 1, the embodiment of the invention also provides a kind of lane methods, and this method is by upperState the execution of the i-th vehicle described in embodiment, it is specific as shown in figure 4, this method comprises:
Step 410, it receives the cooperation lane change that roadside unit is sent and indicates information.
It include: wherein the corresponding parameter information of the first vehicle in the cooperation lane change instruction information.
Step 420, information is indicated according to the cooperation lane change, generates lane change response, and feed back to the roadside unit.
Step 430, when being determined as first vehicle and carrying out cooperation lane change, according to the corresponding parameter of first vehicleInformation takes collaboration lane change operation.
By a upper embodiment it is found that the i-th vehicle is only after receiving the cooperation lane change instruction of roadside unit transmission, just meetingInformation is indicated according to cooperation lane change, generates lane change response.It generates lane change and responds and feed back to roadside unit, be in order to facilitate tracksideUnit determines whether the i-th vehicle executes collaboration lane change operation.And result determines that the first vehicle imports target lane according to responseImport the time.The collaboration lane change operation that i-th vehicle is taken can include but is not limited to mode listed below: for example actively keep awayIt allows, speed slows down equal measures.The measure specifically taken has been done in a upper embodiment for example, not being excessive Jie hereIt continues.
The embodiment of the present invention provides a kind of vehicle lane change method, and the cooperation lane change that the i-th vehicle is sent according to roadside unit refers toShow information, generate and cooperate with lane change operation accordingly, facilitates the first vehicle safety, efficiently by importing a remittance target carriage roadSimultaneously, additionally it is possible to guarantee road middle rolling car safety.
Corresponding with above-described embodiment 1, the embodiment of the present invention 3 additionally provides a kind of vehicle lane change device, specifically such as Fig. 5 instituteShow, which includes: receiving unit 501, processing unit 502 and transmission unit 503.
Receiving unit 501, the lane change for receiving the transmission of the first vehicle are requested, and include and the first vehicle pair in lane change requestThe parameter information and target lane information answered；
Processing unit 502, for determining the information of vehicles on target lane according to target lane information；According to target carriageThe information of vehicles in road information and target lane determines travel speed of first vehicle on target lane；According to described firstInformation of vehicles on the corresponding parameter information of vehicle and the target lane determines that first vehicle is imported to the meshMark the remittance time in lane；
Transmission unit 503, for the first vehicle send lane change execute instruction, lane change execute instruction in include the first vehicleRemittance time when remittance to target lane and the travel speed on target lane.
Optionally, device further include: acquiring unit 504；
Processing unit 502 is specifically used for, when determining on target lane there is an at least vehicle when driving, according to the first vehicleCurrent location information determines that the first vehicle imports the remittance point position in target lane；
Acquiring unit 504 reaches the i-th time of remittance point position for obtaining i-th of vehicle that target lane uplink is sailed；
Processing unit 502 is also used to, and according to the first current vehicle position information, the first driving speed information, determines firstVehicle reaches the first time for importing point position；
Transmission unit 503 is specifically used for, when determining that the absolute difference between the i-th time and first time is less than or equal toWhen preset time threshold, cooperation lane change is sent to i-th of vehicle and indicates information；
Receiving unit 501 is also used to, and receives the cooperation lane change response of i-th of vehicle feedback；
Processing unit 502 is also used to, according at the first time and the i-th time determine import the time, wherein i be greater than orEqual to 1, and it is less than or equal to the numerical value for all vehicle fleets that target lane uplink is sailed.
Optionally, acquiring unit 504 are specifically used for: obtain i-th of vehicle sailing of target lane uplink i-th bit setI-th driving speed information of information and i-th of vehicle, according to the i-th location information, the position for importing point, the i-th travel speedInformation determines that i-th of vehicle reaches the i-th time for importing point position.
Optionally, cooperation lane change indicates information, comprising: the corresponding parameter information of the first vehicle.
Optionally, lane change execute instruction in further include i-th of vehicle identification information.
Optionally, processing unit 502 is specifically used for, and according to the first current vehicle position information, determines described firstThe remittance point position in vehicle remittance target lane；
When until the first vehicle driving when the vehicle of traveling is still not present in target lane, is sent to when importing point positionUnit 503 is also used to, directly to the first vehicle send lane change execute instruction, lane change execute instruction in include import the time andTravel speed on target lane.
Function performed by each component is in above-mentioned implementation in a kind of vehicle lane change device provided in an embodiment of the present inventionIt is discussed in detail in example 1, therefore does not do excessively repeat here.
A kind of vehicle lane change device provided in an embodiment of the present invention, when the first vehicle wishes to execute lane change operation, firstIt is established and is communicated to connect by board unit and roadside unit, and send lane change request to roadside unit, include the in lane change requestThe corresponding parameter information of one vehicle and target lane information.Roadside unit determines on target lane according to target lane informationInformation of vehicles；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.MostEventually, according to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target carriageThe remittance time in road.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle to pacifyIt is complete to import target lane, it avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 2, the embodiment of the present invention 4 additionally provides a kind of vehicle lane change device, specifically such as Fig. 6 instituteShow, which includes: receiving unit 601, processing unit 502 and transmission unit 503.
Receiving unit 601, the cooperation lane change for receiving roadside unit transmission indicate information.
It include: wherein the corresponding parameter information of the first vehicle in the cooperation lane change instruction information.
Processing unit 602 generates lane change response for indicating information according to cooperation lane change, and when being determined as described theWhen one vehicle carries out cooperation lane change, according to the corresponding parameter information of first vehicle, collaboration lane change operation is taken.
Transmission unit 603, for lane change response to be fed back to the roadside unit.
Function performed by each component is in above-mentioned implementation in a kind of vehicle lane change device provided in an embodiment of the present inventionIt is discussed in detail in example 2, therefore does not do excessively repeat here.
A kind of vehicle lane change device provided in an embodiment of the present invention indicates letter according to the cooperation lane change that roadside unit is sentBreath generates and cooperates with lane change operation accordingly, facilitates the first vehicle safety, efficiently by importing the same of a remittance target carriage roadWhen, additionally it is possible to guarantee road middle rolling car safety.
Corresponding with above-described embodiment 1 or 3, the embodiment of the present invention 5 additionally provides a kind of roadside unit, specific such as Fig. 7Shown, which includes: processor 701 and memory 702；
Memory 702 is for storing one or more program instructions；
Processor 701, for running one or more program instructions, one kind for being introduced to execute embodiment 1 as aboveMethod step either in vehicle lane change method.
A kind of roadside unit provided in an embodiment of the present invention passes through first when the first vehicle wishes to execute lane change operationOn board unit and roadside unit, which are established, to be communicated to connect, and sends lane change request to roadside unit, includes the first vehicle in lane change requestCorresponding parameter information and target lane information.Roadside unit determines the vehicle on target lane according to target lane informationInformation；According to target lane information and information of vehicles, travel speed of first vehicle on target lane is determined.Finally,According to the information of vehicles on the corresponding parameter information of the first vehicle and target lane, determine that the first vehicle imports target laneImport the time.And sent to the first vehicle and import time and the travel speed on target lane, facilitate the first vehicle safety to convergeEnter target lane, avoids and other automobile crash, guarantee driving safety.
Corresponding with above-described embodiment 2 or 4, the embodiment of the present invention 6 additionally provides a kind of car-mounted terminal, the car-mounted terminalIt is installed on the i-th vehicle, specifically as shown in figure 8, the car-mounted terminal includes: processor 801 and memory 802；
Memory 802 is for storing one or more program instructions；
Processor 801, for running one or more program instructions, one kind for being introduced to execute embodiment 2 as aboveMethod step either in vehicle lane change method.
Corresponding with above-described embodiment, the embodiment of the invention also provides a kind of computer storage medium, the computersInclude one or more program instructions in storage medium.Wherein, one or more program instructions by a kind of roadside unit for being heldA kind of vehicle lane change method that row embodiment 1 as above is introduced.
Corresponding with above-described embodiment, the embodiment of the invention also provides a kind of computer storage medium, the computersInclude one or more program instructions in storage medium.Wherein, one or more program instructions by a kind of roadside unit for being heldA kind of vehicle lane change method that row embodiment 2 as above is introduced.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at thisOn the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.