CN108609012B

CN108609012B - Vehicle lane changing method and vehicle-mounted central control system thereof

Info

Publication number: CN108609012B
Application number: CN201810210396.0A
Authority: CN
Inventors: 郑晓鹏; 郝飞; 刘旺; 王英辉; 吴国彬
Original assignee: Zebra Network Technology Co Ltd
Current assignee: Zebra Network Technology Co Ltd
Priority date: 2018-03-14
Filing date: 2018-03-14
Publication date: 2020-08-18
Anticipated expiration: 2038-03-14
Also published as: CN108609012A

Abstract

The invention provides a vehicle lane changing method, which is used for changing lanes of a vehicle, wherein at least one AR module is arranged in the vehicle for communication, and the vehicle lane changing method comprises the following steps: the vehicle acquires information of at least one related vehicle; the vehicle carries out calculation according to the acquired information of the relevant vehicle; the vehicle selects at least one relevant vehicle as a target vehicle; the vehicle guides the information of the target vehicle into the AR module and generates at least one AR stereo image; the vehicle performs AR interaction with the target vehicle; the vehicle makes a lane change.

Description

Vehicle lane changing method and vehicle-mounted central control system thereof

Technical Field

The invention belongs to the field of automatic control, and particularly relates to a method for realizing lane change of a vehicle through AR interaction and a vehicle-mounted central control system thereof.

Background

With the continuous development and progress of society, vehicles are increasingly applied to daily life of people, including popularization of private cars and use of engineering vehicles, and compared with traditional travel modes, such as walking, riding or taking buses, the private cars are not only quick, but also can meet requirements of passengers to the greatest extent, such as comfort requirements of riding, requirements of parking places and the like. In the aspect of engineering transportation, the advantage of using engineering vehicles to transport objects has been found for many years, and along with the continuous development of social construction, more and more places need to use transportation vehicles, such as express transportation and the like. Thus, there has been an increasing number of people who are or will come into contact with and control various types of vehicles.

During driving, lane changing is not a normal thing for the driver, and is also the situation that the driver encounters during the driving every day. However, the lane change of the vehicle not only needs to depend on the driving technique of the driver, but also needs the driver to have an overall grasp on the traffic condition and the vehicle condition, otherwise, traffic accidents are easily caused. Traffic accidents caused by lane changes are performed on our side every day, some are caused by traffic skills due to insufficient driving skills of drivers, and more are caused by misjudgments caused by unfamiliarity of drivers with road conditions and vehicle conditions of vehicles related to lane changes. For example, when a driver drives at night, the driver cannot see specific road conditions because the road is dark, and in addition, vehicles on a lane to be changed are all in dynamic driving, the speed of the vehicles is not fixed, and the dynamic conditions of the vehicles on the lane to be changed cannot be seen in the dark, so that traffic accidents are easily caused in the lane changing process.

Disclosure of Invention

The invention aims to provide a vehicle lane changing method and an on-board central control system thereof, which are used for a vehicle, wherein the vehicle lane changing method realizes three-dimensional interaction with a target vehicle through an AR module, so that the safety of the vehicle during lane changing is improved.

The invention aims to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein the vehicle lane changing method is completed by the vehicle-mounted central control system, the vehicle-mounted central control system comprises at least one AR module, and the vehicle lane changing method realizes three-dimensional interaction with a target vehicle by the AR module.

An object of the present invention is to provide a vehicle lane change method and an on-vehicle central control system thereof, wherein the vehicle lane change method can generate a real-time AR stereoscopic image of a target vehicle by converting target vehicle information in real time through an AR module, thereby facilitating a driver to adjust driving parameters according to a real-time driving condition of the target vehicle when changing lanes.

One objective of the present invention is to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein the AR module in the vehicle-mounted central control system includes at least one information conversion module, and the AR module converts the vehicle or/and the target vehicle information into an AR stereoscopic image through the information conversion module.

An object of the present invention is to provide a vehicle lane change method and an on-vehicle central control system thereof, in which a driver can actively select a related vehicle and can also automatically select the related vehicle through the vehicle, thereby improving the applicability of the vehicle lane change method.

An object of the present invention is to provide a lane change method for a vehicle and an on-board central control system thereof, wherein in the vehicle, the driver can select a vehicle on the road as a related vehicle through a voice control method to perform corresponding information collection when changing the lane, thereby improving the degree of intelligence of the vehicle.

The invention aims to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein in the method, the vehicle can judge according to vehicle body information of the vehicle and information of related vehicles to obtain at least one optimized lane changing scheme, so that the safety degree of the vehicle during lane changing is improved.

An object of the present invention is to provide a vehicle lane changing method and an on-board central control system thereof, wherein the vehicle lane changing method judges information of the vehicle and related vehicles through an information judgment module in the on-board central control system, so as to improve accuracy of a judgment result of the vehicle lane changing method.

An object of the present invention is to provide a vehicle lane change method and a vehicle-mounted central control system thereof, wherein the vehicle lane change method is capable of determining one of the optimal lane change schemes from the judged optimal lane change schemes in combination with driving habits or driving preferences of the driver, so as to improve the experience of the driver in driving the vehicle.

An object of the present invention is to provide a vehicle lane changing method and an on-board central control system thereof, wherein a driver can determine the optimal lane changing scheme by a scheme determination module in the on-board central control system in combination with own driving preference.

An object of the present invention is to provide a vehicle lane change method and an on-vehicle central control system thereof, wherein the vehicle lane change method can convert a target vehicle related to lane change safety into an AR stereoscopic image through an AR module, thereby providing a driver with intuitive image observation.

An object of the present invention is to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein a driver can adjust driving parameters of a vehicle driven by a driver according to an AR stereoscopic image of a target vehicle, so as to adjust the vehicle to a state most suitable for lane changing.

An object of the present invention is to provide a lane changing method for a vehicle and an on-board central control system thereof, wherein the vehicle adjusts driving parameters in the vehicle through a parameter adjusting module in the on-board central control system, so as to adjust the vehicle to an optimal lane changing state.

An object of the present invention is to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein the vehicle lane changing method can convert the vehicle and the target vehicle into AR stereo images respectively through an AR module and simulate the AR stereo images to change lanes, thereby providing a real and reliable reference for the real lane changing of the vehicle.

The invention aims to provide a vehicle lane changing method and a vehicle-mounted central control system thereof, wherein the vehicle carries out simulated lane changing on AR stereo images of the vehicle and the target vehicle through an influence simulation module in the vehicle-mounted central control system.

In order to achieve the above object, the present invention provides a lane changing method for a vehicle, which is used for changing lanes of the vehicle, wherein at least one AR module is disposed in the vehicle for communication, and the lane changing method for the vehicle comprises the following steps:

1001: the vehicle acquires information of at least one related vehicle;

1002: the vehicle judges according to the acquired information of the relevant vehicle;

1003: the vehicle selects at least one relevant vehicle as a target vehicle;

1004: the vehicle guides the information of the target vehicle into the AR module and generates at least one AR stereo image;

1005: the vehicle performs AR interaction with the target vehicle;

1006: the vehicle makes a lane change.

In some of these embodiments, the step 1001 further includes the steps of:

10011: the vehicle selects at least one vehicle as a related vehicle;

10012: the vehicle collects information of the relevant vehicle;

10013: and the vehicle acquires and caches the information of the relevant vehicle.

In some of the embodiments, the step 10011 is performed by a voice control method.

In some of these embodiments, wherein said step 10011 further comprises the step of:

100111: collecting and storing the voice of a specific person;

100112: receiving a voice selection command in the vehicle 10;

100113: determining whether the voice selection instruction is from the particular person;

100114: if the matching is successful, selecting a corresponding vehicle as the related vehicle according to the voice selection instruction; the match fails and the vehicle 10 does not respond.

100115: the voice data is cleared.

In some of these embodiments, wherein the step 1002 further comprises the step of:

10021: importing the acquired information of the relevant vehicles into the vehicles;

10022: combining the information of the associated vehicle with the information of the vehicle;

10023: and judging to obtain at least one optimized lane change scheme.

In some of these embodiments, the step 1003 further includes the steps of:

10031: determining an optimal lane change scheme of the vehicle;

10032: and selecting at least one related vehicle as the target vehicle according to an optimal lane change scheme.

In some of these embodiments, wherein the step 1004 further comprises the steps of:

10041: importing information of the target vehicle into the AR module;

10042: the AR module converts the target vehicle into an AR stereo image according to the information of the target vehicle.

In some of these embodiments, wherein said step 10042 further comprises the step of:

100421: the AR module converts the information of the target vehicle into two-dimensional data information;

100422: the AR module converts the two-dimensional data information into AR stereoscopic image information;

100423: and forming and displaying an AR stereo image of the target vehicle.

In some of these embodiments, wherein the step 1005 further comprises the steps of:

10051: the vehicle adjusts driving parameters according to the AR stereo image of the target vehicle;

10052: the vehicle interacts with the AR stereo image of the target vehicle.

10051': the vehicle adjusts driving parameters according to the AR stereo image of the target vehicle;

10052': importing the information of the vehicle into the AR module and converting the information into an AR stereo image of the vehicle;

10053': simulating the AR stereo image of the vehicle to change the lane relative to the AR stereo image of the target vehicle;

10054': if the simulation result is successful, the vehicle prepares to change lanes; if the simulation result fails, the process returns to step 10051'.

In some of these embodiments, wherein said step 10052' further comprises the steps of:

100521': importing the information of the vehicle into the AR module;

100522': the AR module converts the information of the vehicle into two-dimensional data information;

100523': the AR module converts the two-dimensional data information into AR stereoscopic image information;

100524': and forming and displaying an AR stereo image of the vehicle.

In some embodiments, the lane changing method is performed by an on-board central control system, the on-board central control system is communicatively disposed on the vehicle and the AR module is communicatively disposed on the on-board central control system, the on-board central control system includes at least one information acquiring module and at least one information determining module, the information acquiring module and the information determining module are communicatively disposed on the on-board central control system respectively, in step 1001, the vehicle acquires information of the relevant vehicle through the information acquiring module in the on-board central control system and determines through the information determining module in step 1002.

In some embodiments, the AR module further includes at least one information conversion module, the information conversion module is communicatively disposed in the AR module, and in step 1004, the AR module converts the information of the target vehicle into the AR stereoscopic image through the information conversion module.

In some embodiments, the on-board center control system further includes at least one information acquisition module and at least one information cache module, the information acquisition module and the information cache module are respectively and communicatively disposed in the on-board center control system, in step 10012, the vehicle acquires information of the relevant vehicle through the information acquisition module in the on-board center control system, and caches the acquired information through the information cache module in step 10013.

In some of the embodiments, the on-board center control system further includes at least one information importing module, the information importing module is communicatively disposed in the on-board center control system, and in step 10021 and step 10022, the vehicle imports information of the vehicle and the related vehicle through the information importing module in the on-board center control system.

In some of the embodiments, wherein the on-board center control system further comprises at least one scheme determining module and at least one vehicle selecting module, the scheme determining module and the vehicle selecting module are respectively and communicatively disposed in the on-board center control system, in the step 10031, the vehicle determines the optimal lane changing scheme through the scheme determining module and selects the target vehicle through the vehicle selecting module in the step 10032.

In some of the embodiments, wherein the on-board center control system further includes at least a first parameter adjustment module, the first parameter adjustment module is communicatively disposed in the on-board center control system, in step 10051, the vehicle adjusts the driving parameters of the vehicle through the first parameter adjustment module in the on-board center control system.

In some of the embodiments, wherein the on-board center control system further comprises at least one image display module, the image display module is communicatively disposed in the on-board center control system, in the step 100423, the vehicle displays the AR stereoscopic image of the target vehicle through the image display module in the on-board center control system.

In some embodiments, the on-board center control system further comprises at least one image simulation module, the image simulation module is communicatively disposed in the on-board center control system, and in step 10053', the vehicle simulates AR stereo images of the vehicle to change lanes through the image simulation module in the on-board center control system.

Drawings

Fig. 1 is a schematic step diagram of a first embodiment of a lane change method for a vehicle according to the present invention.

Fig. 2 is a schematic block structure diagram of a vehicle-mounted central control system according to a first embodiment of the present invention.

FIG. 3 is a schematic step diagram of a further preferred embodiment of the vehicle lane change method depicted in FIG. 1.

Fig. 4 is a schematic block diagram of a further preferred embodiment of the on-board center control system shown in fig. 3.

FIG. 5 is a schematic step diagram of a further preferred embodiment of the vehicle lane change method depicted in FIG. 3.

Fig. 6 is a schematic block diagram of a further preferred embodiment of the on-board center control system shown in fig. 5.

FIG. 7 is a schematic step diagram of a further preferred embodiment of the vehicle lane change method depicted in FIG. 5.

Fig. 8 is a schematic block diagram of a further preferred embodiment of the on-board center control system shown in fig. 7.

FIG. 9 is a schematic step diagram of a further preferred embodiment of the vehicle lane change method depicted in FIG. 7.

Fig. 10 is a schematic block diagram of a further preferred embodiment of the on-board center control system shown in fig. 9.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

The invention mainly provides a vehicle lane changing method and a system thereof, wherein the vehicle lane changing method is used when a vehicle 10 changes lanes, and at least one AR module 1101 is arranged in the vehicle 10 in a communication mode. Fig. 1 to 10 are schematic diagrams of steps of the lane changing method of the vehicle and a module of the vehicle-mounted central control system according to the present invention. In a first embodiment of the present invention, as shown in fig. 1 and 2, the lane change method for a vehicle includes the steps of:

1001: the vehicle 10 obtains information about at least one associated vehicle 20;

1002: the vehicle 10 makes a judgment according to the acquired information of the relevant vehicle 20;

1003: the vehicle 10 selects at least one of the relevant vehicles as a target vehicle 30;

1004: the vehicle 10 imports the information of the target vehicle 30 into the AR module and generates at least one AR stereoscopic image;

1005: the vehicle 10 is in AR interaction with the target vehicle 20;

1006: the vehicle 10 makes a lane change.

In step 1001, the relevant vehicle 20 includes one or more vehicles, that is, when the road section traveled by the vehicle 10 includes two lanes, the vehicle 10 may encounter four or more vehicles that are safely relevant to the vehicle 10 when the vehicle 10 is about to change lanes, and the vehicle 10 may select four or more vehicles as the relevant vehicle 20 to obtain the vehicle condition information thereof, and even if the road section traveled by the vehicle 10 is two lanes, the vehicle 10 may need to grasp two vehicles relevant to the change lanes as the relevant vehicle 20 to know the vehicle condition information thereof when the vehicle 10 is about to change lanes.

In the step 1002, the step of judging the related vehicle 20 information refers to judging the acquired related vehicle 20 information in combination with the information of the vehicle 10 to obtain information related to driving safety when the related vehicle 20 changes lanes with the vehicle 10, such as speed information, vehicle size information and the like, so as to obtain an optimized lane change scheme;

in the step 1003, the vehicle 10 selects at least one relevant vehicle as the target vehicle 30 according to the optimized lane change scheme determined in the step 1002.

In the step 1004, the AR module 1101 generates at least one AR stereoscopic image 301 of the target vehicle 30 by importing information of the target vehicle 30, and the AR stereoscopic image is real-time dynamic.

In the step 1005, the vehicle 10 interacts with the selected target vehicle 30 through an AR stereo image, that is, the dynamic stereo image of the target vehicle 30 generated by the AR module 1101 represents the real-time driving condition of the target vehicle 30, and the vehicle 10 can accurately grasp the real driving condition of the target vehicle 30 by interacting with the stereo image generated by the AR module 1101.

The step 1006 is that the vehicle 10 may realize lane change by observing the stereoscopic image generated by the AR module 1101.

Accordingly, the lane-changing method is implemented by an on-board center control system 11, and the on-board center control system 11 is disposed on the vehicle 10 and is connected to the vehicle 10 in communication. The on-board center control system 11 includes at least one information acquisition module 1102, the information acquisition module 1102 is communicatively installed in the on-board center control system 11, and in step 1001, the vehicle 10 acquires the information of the relevant vehicle 20 through the information acquisition module 1102 in the on-board center control system 11.

The vehicle 10 further comprises a plurality of sensors 12, the plurality of sensors 12 are fixedly arranged in the vehicle 10 and are in communication connection with the on-board central control system 11, and the plurality of sensors 12 are used for acquiring information of the relevant vehicle 20 and/or the vehicle 10 and transmitting the information to the on-board central control system 11.

It should be noted that the sensors 12 include speed sensors, size sensors, distance sensors, and the like, which can collect all driving safety related factors affecting lane changing of the vehicle 10, so that all safety related information of the relevant vehicle 10, which may affect lane changing of the vehicle 10, is collected.

The on-board center control system 11 further includes at least one information determination module 1103, the information determination module 1103 is communicatively disposed in the on-board center control system 11, and in step 1002, the vehicle 10 determines the acquired information of the relevant vehicle 20 through the information determination module 1103 in the on-board center control system 11.

The on-board center control system 11 further includes at least one object selection module 1104, the object selection module 1104 is communicatively installed in the on-board center control system 11, and in the step 1003, the vehicle 10 selects at least one object vehicle 30 through the object selection module 1104 in the on-board center control system 11.

In the first embodiment of the present invention, the AR module 1101 is communicatively provided to the in-vehicle central control system 11, the in-vehicle central control system 11 further includes at least one information import module 1105, the information import module 1105 is communicatively provided to the in-vehicle central control system 11, and in step 1004, the vehicle 10 imports information of the target vehicle 30 into the AR module 1101 in the in-vehicle central control system 11 through the information import module 1105 in the in-vehicle central control system 11.

The on-board center control system 11 further includes at least one image generation module 1106, the image generation module 1106 is communicatively provided in the on-board center control system 11, and in step 1004, the vehicle 10 generates an AR stereoscopic image of the target vehicle 30 by the image generation module 1106.

Preferably, as shown in fig. 3 and 4, in the first embodiment of the present invention, the step 1001 further includes the steps of:

10011: the vehicle 10 selects at least one vehicle as the associated vehicle 20;

10012: the vehicle 10 collects information about the associated vehicle 20;

10013: the vehicle 10 acquires and caches information about the associated vehicle 20.

In step 10011, the selection of the relevant vehicle 20 may be actively selected by the driver, or the vehicle may be automatically selected, wherein the driver may select the relevant vehicle manually or by voice.

In the step 10012, the vehicle 10 selects information of the relevant vehicle 20 through a plurality of the sensors 12, wherein a driver may select to collect all information of the relevant vehicle 20, such as vehicle speed, distance, vehicle body size, hectometer acceleration, and the like, or only collect a part of the information, such as vehicle speed, distance, and the like.

Accordingly, the on-board center control system 11 further includes at least one vehicle selection module 1107, the vehicle selection module 1107 is communicatively disposed in the on-board center control system 11, and in step 10011, the vehicle 10 selects the relevant vehicle 20 through the vehicle selection module 1107 in the on-board center control system 11.

The vehicle-mounted central control system 11 further comprises at least one information acquisition module 1108, wherein the information acquisition module 1108 is communicatively arranged in the vehicle-mounted central control system 11 and is communicatively connected with the plurality of sensors 12, and is used for acquiring information of the relevant vehicle 20 and the vehicle 10 through the sensors. In step 10012, the vehicle 10 collects information about the relevant vehicle 20 through the information collection module 1108 of the on-board center control system 11.

The on-board center control system 11 further includes at least one information caching module 1109, the information caching module 1109 is communicatively installed in the on-board center control system 11, and in step 10013, the vehicle 10 caches the acquired information of the relevant vehicle 20 through the information caching module 1109 in the on-board center control system 11.

Preferably, in the step 10011, the vehicle 10 selects the relevant vehicle 20 through a voice control method.

Specifically, the step 10011 further includes the steps of:

100111: collecting and storing the voice of a specific person;

100112: receiving a voice selection command in the vehicle 10;

100114: if the matching is successful, selecting the corresponding vehicle as the related vehicle 20 according to the voice selection instruction; the match fails and the vehicle 10 does not respond.

Wherein, in the step 100111, the specific person includes a driver, or a person who needs a responsible person for driving safety of the vehicle 10, such as a coach.

In step 100112, the voice selection instruction includes a voice selection instruction from the specific person and a voice selection instruction from other persons.

In the step 100113, if the voice selection instruction is from the specific person, the in-vehicle central control system 11 is turned on according to the voice selection instruction.

Accordingly, the vehicle center control system 11 includes a voice control system 1110, the voice control system 1110 is communicatively disposed in the vehicle center control system 11, and in step 10011, the relevant vehicle 20 is selected through the voice control system 1110.

The voice control system 1110 in the vehicle-mounted central control system 11 includes a voice collecting module 11101 and a voice storing module 11102, the voice collecting module 11101 and the voice storing module 11102 are respectively set in the voice control system 1110 in a communication manner, and in step 100111, the voice of the specific person is collected through the voice collecting module 11101 and stored through the voice storing module 11102.

The voice control system 1110 further includes a voice receiving module 11103, and the voice receiving module 11103 is communicatively disposed on the voice control system 1110, and in step 100112, the voice selecting instruction in the vehicle 10 is received through the voice receiving module 11103.

The speech control system 1110 further comprises a speech recognition module 11104, the speech recognition module 11104 is communicatively coupled to the speech control system 1110, and at step 100113, it is determined whether the speech selection instruction is from the person via the speech recognition module 11104.

The voice control system 1110 further includes a voice control module 11105, the voice control module 11105 is communicatively disposed on the voice control system 1110, and in step 100114, the associated vehicle 20 is selected through the voice control module 11105.

In addition, the step 10011 further comprises the steps of:

100115: the voice data is cleared.

The step 100115 of clearing voice data can be performed in any of the steps 10011, so as to clear the existing or wrong voice data.

Accordingly, the voice control system 1110 further comprises a voice clearing module 11106, the voice clearing module 11106 is communicatively disposed on the voice control system 1110, and in the step 100115, the voice data is cleared by the voice clearing module 11106.

As a variation of this embodiment, a person skilled in the art may select the relevant vehicle 20 in a practical manner, such as gesture control, and the like, as long as on the basis of the above disclosure of the present invention, a technical solution the same as or similar to the present invention is adopted, the technical problem the same as or similar to the present invention is solved, and the technical effect the same as or similar to the present invention is achieved, and all of the technical solutions belong to the protection scope of the present invention, and the specific implementation manner of the present invention is not limited thereto.

Preferably, as shown in fig. 5 and 6, in the first embodiment of the present invention, the step 1002 further includes the steps of:

10021: importing the acquired information of the relevant vehicle 20 into the vehicle;

10022: combining the information of the associated vehicle 20 with the information of the vehicle 10;

10023: and judging to obtain at least one optimized lane change scheme.

In the first embodiment of the present invention, the information determining module 1103 includes a specific determining formula, and the step 1002 is to determine, by using the specific determining method in the information determining module 1103, according to the information about the vehicle 10, such as the speed, the acceleration, and the distance from the vehicle 10, of the relevant vehicle 10, so as to obtain at least one optimized lane-changing scheme. Because the vehicle 10 has a plurality of different lane-changing options during lane changing, for example, when facing a plurality of lanes or vehicles, etc., it can be determined through the step 1002 that one or more optimized lane-changing schemes are provided for the driver to select.

In the step 10021 and the step 10022, the vehicle 10 imports the information of the related vehicle 20 into the information judgment module 1103 of the vehicle 10 through the information import module 1105, combines the information of the related vehicle 20 with the information of the vehicle 10 through the information import module 1105, and judges the combined information of the related vehicle 20 and the information of the vehicle 10 in the step 10023 to obtain an optimized lane change scheme.

Preferably, the step 1003 further comprises the following steps:

10031: determining an optimal lane-change plan for the vehicle 10;

10032: at least one of the associated vehicles is selected as the target vehicle 30 according to the optimal lane change plan.

The step 10031 is a step of determining a lane change scheme as an optimal lane change scheme from the one or more optimized lane change schemes and changing lanes according to the optimal lane change scheme.

The step 10032 is a lane-change scheme that may involve two or more vehicles, and therefore requires more than one vehicle to be determined as the target vehicle 30 in the associated vehicle 20.

Accordingly, the on-board center control system 11 further includes at least one scheme determination module 1111, the scheme determination module 1111 is communicatively provided to the on-board center control system 11, in the step 10031, the vehicle 10 determines an optimal lane change scheme through the gesture scheme determination module 1111 in the on-board center control system 11, and in the step 10032, the target vehicle 30 is selected through the vehicle selection module 1107.

Preferably, as shown in fig. 7 and 8, in the first embodiment of the present invention, the step 1004 further includes the steps of:

10041: importing information of the target vehicle 30 into the AR module 1101;

10042: the AR module 1101 converts the target vehicle 30 into an AR stereoscopic image 301 according to the information of the target vehicle 30.

Accordingly, the on-board center control system 11 further includes an information conversion module 1112, the information conversion module 1112 is communicatively installed in the AR module 1101, in the step 10041, the vehicle 10 imports the information of the target vehicle 30 through the information import module 1105 in the on-board center control system 11, and in the step 10042, the information of the target vehicle 30 is converted into the AR stereoscopic image 301 through the information conversion module 1112 in the AR module 1101.

Still further, the step 10042 further comprises the steps of:

100421: the AR module 1101 converts the information of the target vehicle 30 into two-dimensional data information;

100422: the AR module 1101 converts the two-dimensional data information into AR stereoscopic image information;

100423: an AR stereoscopic image 301 of the target vehicle 30 is formed and displayed.

It is emphasized that the information of the relevant vehicle 20 in the step 1001 in the vehicle lane changing method according to the present invention is continuously collected, that is, the judgment in the step 1002 is also continuously judged. Once the target vehicle 30 is determined, it will not change, but only the information of the target vehicle 30 is continuously collected, so that the AR stereoscopic image 301 of the target vehicle 30 finally formed in the step 1004 is a dynamic stereoscopic image.

In the step 100421 and the step 100422, the vehicle 10 converts the information of the target vehicle 30 into AR stereoscopic image information 301 through the information conversion module 1112 in the AR module 1101.

The on-board center control system 11 further includes at least one image display module 1113, the image display module 1113 is communicatively installed in the on-board center control system 11, and in step 100423, the AR stereoscopic image 301 of the target vehicle 30 is displayed through the image display module 1113.

Preferably, the step 1005 further comprises the steps of:

10051: the vehicle 10 adjusts driving parameters according to the AR stereoscopic image 301 of the target vehicle 30;

10052: the vehicle 10 interacts with the AR stereo 301 of the target vehicle 30.

In step 1005, since the AR stereoscopic image 301 of the target vehicle 30 intuitively shows the dynamic state of the target vehicle 30, the vehicle 10 can grasp the driving situation of the target vehicle 30 only by using the AR stereoscopic image 301 of the target vehicle 30, and can adjust the driving parameters such as the vehicle speed of the vehicle 10 according to the driving situation of the target vehicle 30, thereby realizing lane change.

Correspondingly, the on-board center control system 11 further includes at least a first parameter adjusting module 1114, the first parameter adjusting module 1114 is communicatively installed in the on-board center control system 11, and in step 10051, the vehicle 10 adjusts the driving parameters of the vehicle 10 through the first parameter adjusting module 1114 in the on-board center control system 11.

It is emphasized that in the step 10051, the driver may manually adjust the driving parameters through the first parameter adjustment module 1114, or the vehicle 10 may automatically adjust the driving parameters of the vehicle 10 through the first parameter adjustment module 1114.

As a variation of the present invention, a person skilled in the art may also change the adjustment mode of the driving parameter according to the actual situation, and as long as on the basis of the above disclosure of the present invention, the same or similar technical solution as the present invention is adopted, the same or similar technical solution as the present invention is solved, and the same or similar technical effect as the present invention is solved, all of which are within the protection scope of the present invention, and the specific implementation manner of the present invention is not limited thereto.

As shown in fig. 9 and 10, as a variation of the first embodiment of the present invention, wherein the step 1005 further comprises the steps of:

10051': the vehicle 10 adjusts driving parameters according to the AR stereoscopic image 301 of the target vehicle 30;

10052': importing the information of the vehicle 10 into the AR module 1101 and converting the information into an AR stereoscopic image 101 of the vehicle 10;

10053': simulating that the AR stereoscopic image 101 of the vehicle 10 changes lane with respect to the AR stereoscopic image 301 of the target vehicle 30;

10054': if the simulation is successful, the vehicle 10 prepares to change lanes (100541'); if the simulation result fails, the process returns to step 10051 '(100542').

In this modified embodiment of the present invention, the AR stereoscopic image 101 of the vehicle 10 and the AR stereoscopic image 301 of the target vehicle 30 are simultaneously formed in the vehicle 10, and the lane change is simulated, so as to determine whether the driving parameters adjusted by the vehicle 10 can be successfully changed, if the simulation result is not successful, the posture parameters of the vehicle 10 are continuously adjusted until the AR stereoscopic image 101 of the vehicle 10 is successfully changed in the simulation result, and the vehicle 10 prepares for lane change according to the adjusted driving parameters.

It should be emphasized that, since the information of the vehicle 10 is dynamically changed and the information of the target vehicle 30 is also dynamically changed, the AR stereoscopic image 101 of the vehicle 10 and the AR stereoscopic image 301 of the target vehicle 30 are also in dynamic real-time change, and thus the simulation result is a real-time reflection of the real driving situation of the vehicle 10 and the target vehicle 30 during lane change, so that the reference is strong, and as long as no accident occurs during lane change, the driver can completely perform real lane change according to the simulation result and the driving parameters adjusted in the simulation.

Accordingly, the on-board center control system 11 further includes at least one second parameter adjusting module 1115, the second parameter adjusting module 1115 is communicatively installed in the on-board center control system 11, in the step 10051 ', the vehicle 10 adjusts the driving parameters of the vehicle 10 through the second parameter adjusting module 1115 in the on-board center control system 11, and in the step 10052', the information of the vehicle 10 is converted into the AR stereo image 101 through the information converting module 1112.

The on-board center control system 11 further includes at least one image simulation module 1116, the image simulation module 1116 is communicatively installed in the on-board center control system 11, and in step 10053', the vehicle 10 simulates the AR stereoscopic image 101 of the vehicle 10 to change the lane with respect to the AR stereoscopic image 301 of the target vehicle 30 through the image simulation module 1116 in the on-board center control system 11.

The on-board center control system 11 further includes at least one return module 1117, the return module 1117 is communicatively disposed in the on-board center control system 11, and in the step 100542 ', the vehicle 10 returns to the step 10051' through the return module 1117 to readjust the driving parameters of the vehicle 10.

Still further, the step 10052' further comprises the steps of:

100521': the information of the vehicle 10 is imported to the AR module 1101;

100522': the AR module 1101 converts the information of the vehicle 10 into two-dimensional data information;

100523': the AR module 1101 converts the two-dimensional data information into AR stereoscopic image information;

100524': an AR stereoscopic image 101 of the vehicle 10 is formed and displayed.

In the step 100521 ', the vehicle 10 imports the information of the vehicle 10 into the AR module 1101 through the information import module 1105, in the steps 100522' and 100523 ', the AR module 1101 converts the information of the vehicle 10 into the AR stereoscopic image information through the information conversion module 1112, and in the step 100524', the AR stereoscopic image 101 of the vehicle 10 is displayed through the image display module 1113.

Next, the operation principle of the vehicle lane changing method and the vehicle-mounted central control system according to the present invention will be briefly described by assuming a virtual scene.

Assuming that a driver is forced to be in time urgency when he/she wants to drive a vehicle to drive to the place A in the rainy night, he/she needs to constantly change lanes and overtake the vehicle without violating traffic regulations so as to drive to the place A in the shortest time. If a certain lie drives a common vehicle at night and the outside is rainy, the road condition is quite complex, and in addition, the certain lie drives in a very urgent mental state, and at the moment, if the certain lie changes lanes forcibly and continuously to achieve the purpose of time driving, traffic accidents are likely to be caused.

If a vehicle 10 according to the present invention is driving, it is only necessary to collect specific information of other related vehicles 20 related to lane change safety, such as vehicle speed, acceleration, and vehicle body size, etc., by the vehicle 10 before lane change, and then import the collected information of the related vehicles 20 and information data of the vehicle 10 driven by the vehicle into a specific information judgment module for judgment, so as to obtain one or more optimized lane change schemes. At this time, one of the schemes may be determined as the optimal lane change scheme according to driving habits or preferences, and then at least one vehicle 21 related to the optimal lane change is determined as the target vehicle 30 among the related vehicles 20 according to the most-available lane change scheme. Once the target vehicle 30 is determined, the vehicle 10 continuously directs the continuously collected information of the target vehicle 30 to an AR module 1101 in the vehicle 10 to form a dynamic AR stereoscopic image 301 of the target vehicle 30 and display the dynamic AR stereoscopic image in the vehicle 10. Then, lie a certain can adjust the driving parameter of the vehicle 10 driven by him according to the AR stereoscopic image 301 of the target vehicle 30 to make a real lane change.

In addition, the AR module 1101 in the vehicle 10 may also convert the information of the vehicle 10 driven by the user into the AR stereoscopic image 101 and display the converted information, and then determine or adjust the driving parameters of the vehicle 10 driven by the user by simulating whether the lane change of the AR stereoscopic image 101 of the vehicle 10 driven by the user with respect to the AR stereoscopic image 301 of the target vehicle 30 is successful, so as to adjust the driving data of the vehicle 10 to the optimal lane change parameters.

Since the AR module 1101 continuously converts the information of the dynamic target vehicle 30 and the driven vehicle 10 into the corresponding AR stereo images 301 and 101, during the process of simulating lane change or adjusting driving parameters, the AR stereo images 301 and 101 display real dynamic information of the target vehicle 30 and the vehicle 10, so that the simulation result and/or the AR stereo images 301 and 101 can be used as reference.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. A vehicle lane changing method is used for changing lanes of a vehicle, and is characterized in that at least one AR module is arranged in the vehicle for communication, wherein the vehicle lane changing method comprises the following steps:

1001: the vehicle acquires information of at least one related vehicle;

1003: the vehicle selects at least one relevant vehicle as a target vehicle;

1005: the vehicle performs AR interaction with the target vehicle;

1006: the vehicle changes lanes;

wherein the step 1005 further comprises the steps of:

2. The vehicle lane-changing method according to claim 1, wherein the step 1001 further comprises the steps of:

10011: the vehicle selects at least one vehicle as a related vehicle;

10012: the vehicle collects information of the relevant vehicle;

3. The vehicle lane-changing method of claim 2, wherein said step 10011 is accomplished by a voice control method.

4. The vehicle lane-changing method according to claim 3, wherein said step 10011 further comprises the steps of:

100111: collecting and storing the voice of a specific person;

100112: receiving a voice selection instruction in the vehicle;

100114: if the matching is successful, selecting a corresponding vehicle as the related vehicle according to the voice selection instruction; the match fails and the vehicle is unresponsive.

5. The vehicle lane-changing method according to claim 4, wherein said step 10011 further comprises the steps of:

100115: the voice data is cleared.

6. The vehicle lane-changing method of claim 5, wherein said step 1002 further comprises the steps of:

10023: and judging to obtain at least one optimized lane change scheme.

7. The vehicle lane-changing method of claim 6, wherein said step 1003 further comprises the steps of:

10031: determining an optimal lane change scheme of the vehicle;

8. The vehicle lane-changing method of claim 7, wherein said step 1004 further comprises the steps of:

10041: importing information of the target vehicle into the AR module;

9. The vehicle lane-changing method of claim 8, wherein said step 10042 further comprises the step of:

100423: and forming and displaying an AR stereo image of the target vehicle.

10. The vehicle lane-change method of claim 9, wherein said step 1005 further comprises the steps of:

10052: the vehicle interacts with the AR stereo image of the target vehicle.

11. The vehicle lane-changing method of claim 10, wherein said step 10052' further comprises the steps of:

100521': importing the information of the vehicle into the AR module;

100524': and forming and displaying an AR stereo image of the vehicle.

12. The method according to claim 11, wherein the method is performed by an on-board center control system, the on-board center control system is communicatively disposed on the vehicle and the AR module is communicatively disposed on the on-board center control system, the on-board center control system comprises at least one information acquisition module and at least one information determination module, the information acquisition module and the information determination module are communicatively disposed on the on-board center control system respectively, in the step 1001, the vehicle acquires the information of the relevant vehicle through the information acquisition module in the on-board center control system and determines the information through the information determination module in the step 1002.

13. The method of claim 12, wherein the AR module further comprises at least one information conversion module, the information conversion module is communicatively disposed on the AR module, and in step 1004, the AR module converts the information of the target vehicle into the AR stereoscopic image through the information conversion module.

14. The method for changing lanes of a vehicle according to claim 13, wherein said on-board center control system further comprises at least one information collecting module and at least one information caching module, said information collecting module and said information caching module are respectively and communicatively installed in said on-board center control system, in said step 10012, said vehicle collects information of said related vehicle through said information collecting module in said on-board center control system and caches the collected information through said information caching module in said step 10013.

15. The vehicle lane-changing method according to claim 14, wherein the on-board center control system further comprises at least one information importing module, the information importing module is communicatively disposed in the on-board center control system, and in the step 10021 and the step 10022, the vehicle imports information of the vehicle and the related vehicle through the information importing module in the on-board center control system.

16. The vehicle lane-changing method according to claim 15, wherein the on-board center control system further comprises at least one scenario determination module and at least one vehicle selection module, the scenario determination module and the vehicle selection module are respectively and communicatively provided to the on-board center control system, in the step 10031, the vehicle determines the optimal lane-changing scenario through the scenario determination module and selects the target vehicle through the vehicle selection module in the step 10032.

17. The method of claim 16, wherein the on-board center control system further comprises at least a first parameter adjusting module, the first parameter adjusting module is communicatively disposed in the on-board center control system, and in step 10051, the vehicle adjusts the driving parameters of the vehicle through the first parameter adjusting module in the on-board center control system.

18. The method of claim 17, wherein the on-board center control system further comprises at least one image display module, the image display module is communicatively disposed in the on-board center control system, and in step 100423, the vehicle displays the AR stereoscopic image of the target vehicle through the image display module in the on-board center control system.

19. The method of claim 18, wherein the on-board center control system further comprises at least one image simulation module, the image simulation module is communicatively disposed in the on-board center control system, and in step 10053', the vehicle simulates AR stereoscopic images of the vehicle for lane changing through the image simulation module in the on-board center control system.