CN109326132A - A kind of more vehicles collaboration lane change implementation method and device - Google Patents
A kind of more vehicles collaboration lane change implementation method and device Download PDFInfo
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- CN109326132A CN109326132A CN201811281654.0A CN201811281654A CN109326132A CN 109326132 A CN109326132 A CN 109326132A CN 201811281654 A CN201811281654 A CN 201811281654A CN 109326132 A CN109326132 A CN 109326132A
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- lane change
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of more vehicles to cooperate with lane change implementation method, comprising: area is negotiated in setting lane change, and the lane segment in lane change negotiation area is divided into the cellular of equal length with the unit length set；Negotiate area when vehicle enters lane change, vehicle proposes lane change request, lane where first judging the vehicle according to laterally opposed distance and road curvature before lane change judges the cellular position that the vehicle is located in lane change negotiation area；Judge whether the target lane position of vehicle lane change meets lane change condition, if so, meet the lane change demand of the vehicle, vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicles is held consultation lane change according to established rule.The transit time of vehicle remittance can be shortened using the technical solution, traffic efficiency is improved, reduce the generation of congestion.
Description
Technical field
The present invention relates to intelligent transportation field, in particular to a kind of more vehicle collaboration lane change implementation methods and device.
Background technique
In the more complex road of traffic condition, vehicle drive assist system can targetedly carry out auxiliary and early warning,
Traffic efficiency can be effectively improved, the generation to avoid traffic accident.
In the case where multilane is incorporated to one-lane situation, prolonged congestion often occurs, easily causes between vehicle vehicle
Friction and collision, cause the damage of driver and vehicle.
It is incorporated to one-lane situation for multilane, some alarm auxiliary can only be provided at present, avoid rubbing and collide, this
The problem of road congestion cannot still be alleviated in matter.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of more vehicles collaboration lane change implementation method and device, can shorten vehicle
The transit time of remittance improves traffic efficiency, reduces the generation of congestion.
A kind of implementation method of more vehicle collaboration lane changes provided in an embodiment of the present invention, comprising:
Set lane change and negotiate area, by the lane change negotiate the lane segment in area be divided into the unit length set it is isometric
The cellular of degree；
Negotiate area when vehicle enters lane change, vehicle proposes lane change request, before lane change first according to laterally opposed distance and
Lane where road curvature judges the vehicle judges the cellular position that the vehicle is located in lane change negotiation area；
Judge whether the target lane position of vehicle lane change meets lane change condition, if so, meeting the lane change of the vehicle
Demand, vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicles is held consultation lane change according to established rule；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to a left side
Right two vehicle lanes, the right-hand lane of A-road is prior to left-hand lane.
Optionally, judge whether target lane position meets lane change condition and judge target lane cellular located horizontally from the emitter
And whether prior location cellular is empty, and not to the conflict vehicle of same target position lane change, if so, meeting the vehicle
Lane change demand.
Optionally, one section of road area in front of roadblock is set as more vehicle lane changes and negotiates area.
Optionally, judge whether vehicle front has roadblock signal into the vehicle that area is negotiated in the lane change, if so, then issuing
Lane change request.
In addition the present invention also provides a kind of realization devices of more vehicle collaboration lane changes, comprising:
It sets lane change and negotiates area's unit, the unit length set for the lane segment in area to be negotiated in the lane change is drawn
It is divided into the cellular of equal length；
Vehicle location determination unit, for negotiating area when vehicle enters lane change, vehicle proposes lane change request, before lane change
Lane where first judging the vehicle according to laterally opposed distance and road curvature judges that the vehicle is located at lane change association
Cellular position in quotient area；
Lane change cooperates with unit, for judging whether the target lane position of vehicle lane change meets lane change condition, if so, full
The lane change demand of the foot vehicle, vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicles is according to both establishing rules
It then holds consultation lane change；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to a left side
Right two vehicle lanes, the right-hand lane of A-road is prior to left-hand lane.
Optionally, whether lane change collaboration unit judges target lane position meets lane change condition and judges target lane
Whether cellular and prior location cellular located horizontally from the emitter is empty, and not to the conflict vehicle of same target position lane change, if
It is the lane change demand for then meeting the vehicle.
Optionally, it is one section of road area in front of roadblock that area is negotiated in the lane change.
Optionally, judge whether vehicle front has roadblock signal into the vehicle that area is negotiated in the lane change, if so, then to institute
It states lane change collaboration unit and issues lane change request.
Therefore using the present embodiment technical solution, since the collaboration lane change of more vehicles utilizes principle of cellular automation, emulation
Communication for coordination between more vehicles obtains the collaboration lane change logical algorithm based on cellular by verifying, makes after entering lane change negotiation area
Vehicle cooperate with lane change, to be incorporated to one-lane vehicle for multilane, realize that multilane vehicle enters in single file from bicycle road
It passes sequentially through, the transit time of vehicle remittance can be shortened, improve traffic efficiency, reduce the generation of congestion.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the implementation method flow chart that a kind of more vehicles provided by the invention cooperate with lane change；
Fig. 2 is that area's road cellular schematic diagram is negotiated in a kind of lane change provided by the invention；
Fig. 3 is that a kind of more vehicles provided by the invention cooperate with lane change schematic diagram；
Fig. 4 is a kind of cellular vehicle schematic diagram provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment:
V2X (vehicle to anything) technology is emerging vehicle-mounted physical layer communication technology, passes through V2X technology, vehicle
It can be with real time communication between vehicle, between vehicle and roadside unit.The present invention proposes that a kind of more vehicles based on V2X communication cooperate with lane change
Implementation method emulates the communication for coordination between more vehicles using principle of cellular automation, obtains the collaboration based on cellular by verifying
Lane change logical algorithm implementation method, to be incorporated to one-lane vehicle for multilane, realize multilane vehicle enter in single file from
Bicycle road passes sequentially through.
The present embodiment provides a kind of implementation methods of more vehicle collaboration lane changes, as shown in Figure 1, comprising:
Set lane change and negotiate area, by the lane change negotiate the lane segment in area be divided into the unit length set it is isometric
The cellular of degree, as shown in Figure 2；
Negotiate area when vehicle enters lane change, vehicle proposes lane change request, before lane change first according to laterally opposed distance and
Lane where road curvature judges the vehicle judges the cellular position that the vehicle is located in lane change negotiation area；
Judge whether the target lane position of vehicle lane change meets lane change condition, that is, judges that target lane is located horizontally from the emitter
Whether cellular and prior location cellular are empty, and not to the conflict vehicle of same target position lane change, if so, described in meeting
The lane change demand of vehicle, vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicles is carried out according to established rule
Negotiate lane change；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to a left side
Right two vehicle lanes, the right-hand lane of A-road is prior to left-hand lane.
In one embodiment, as shown in figure 3, one section of road area in front of roadblock, which is set as more vehicle lane changes, negotiates area,
As shown in black box diagram, the lane segment in lane change negotiation area is divided into the member of equal length with the unit length set
Born of the same parents.
After vehicle, which enters the lane change, negotiates area, the longitudinally opposed distance of calculating vehicle to roadblock, according to the member of setting
Born of the same parents' length judges the cellular position that the vehicle is located at before roadblock, from left to right once+1；According to laterally opposed distance and road
Road curvature judges which lane the vehicle is located at；Obtain determination position of each vehicle before roadblock
Start to carry out collaboration lane change for all vehicles for negotiating area into the lane change, first determines whether that certain vehicle front is
It is no to have roadblock signal, need the request to A-road lane change not need lane change if not having if so, then issuing this vehicle, before normal
Row.
For the vehicle for thering is lane change to request, judge whether its target lane position meets lane change condition, i.e. target lane phase
Whether same level position cellular and prior location cellular are empty, and not to the conflict vehicle of same target position lane change, if so,
The lane change demand for then meeting this vehicle, can be with lane change；If it is not, being then unable to lane change, need to hold consultation with surrounding vehicles；
The vehicle for capableing of direct lane change for meeting lane change condition, as shown in figure 4, if No. 3 member vehicles intracellular allow to become
Road then enables 6 and No. 4 members vehicle if it exists intracellular, then enables it slow down until parking, the vehicle lane change for waiting No. 3 members intracellular are completed；
The existing vehicle for enabling 9 and No. 7 members intracellular equally slows down but not necessarily stops.If No. 2 members vehicle intracellular allows lane change, enable
5 and No. 4 members vehicle deceleration intracellular is until parking, the vehicle lane change for waiting No. 2 members intracellular are completed；Enable 8 and No. 7 members are intracellular to deposit
Vehicle equally slow down but not necessarily stop.
For being unsatisfactory for lane change condition and needing to negotiate the vehicle of lane change, the ramp to stop when the vehicle is close to roadblock is waited
Lane change chance.Meanwhile it holding consultation with surrounding vehicles.As shown in figure 4, enabling 4 and No. 5 if No. 3 member vehicles intracellular need to negotiate
Member vehicle ramp to stop intracellular, No. 8 members vehicle intracellular slow down；If No. 2 member vehicles intracellular need to negotiate, enable 4 and No. 6 members intracellular
Vehicle ramp to stop, No. 9 members number vehicle intracellular slows down.The priority of lane change between vehicle and vehicle be can control in this way in traveling process
In remain constant, meet established rule carry out lane change, established rule is: the same horizontal position, A-road is prior to two vehicles
Lane, right-hand lane is prior to left-hand lane.
The vehicle after negotiating area into lane change is realized from above and cooperates with lane change, and queuing successively passes through from intermediate A-road, energy
Enough shorten the transit time that vehicle imports, improves traffic efficiency, reduce the generation of congestion.
In addition, the present invention also provides a kind of realization devices of more vehicle collaboration lane changes, comprising:
It sets lane change and negotiates area's unit, the unit length set for the lane segment in area to be negotiated in the lane change is drawn
It is divided into the cellular of equal length, as shown in Figure 2；
Vehicle location determination unit, for negotiating area when vehicle enters lane change, vehicle proposes lane change request, before lane change
Lane where first judging the vehicle according to laterally opposed distance and road curvature judges that the vehicle is located at lane change association
Cellular position in quotient area；
Lane change cooperates with unit to judge mesh for judging whether the target lane position of vehicle lane change meets lane change condition
Whether mark lane cellular located horizontally from the emitter and prior location cellular are empty, and not to the conflict vehicle of same target position lane change
, if so, meet the lane change demand of the vehicle, vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicle
It holds consultation lane change according to established rule；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to a left side
Right two vehicle lanes, the right-hand lane of A-road is prior to left-hand lane.
In one embodiment, as shown in figure 3, one section of road area in front of roadblock, which is set as more vehicle lane changes, negotiates area,
Lane segment in lane change negotiation area is divided into the cellular of equal length with the unit length set.
After vehicle, which enters the lane change, negotiates area, the longitudinally opposed distance of calculating vehicle to roadblock, according to the member of setting
Born of the same parents' length judges the cellular position that the vehicle is located at before roadblock, from left to right once+1；According to laterally opposed distance and road
Road curvature judges which lane the vehicle is located at；Obtain determination position of each vehicle before roadblock
Start to carry out collaboration lane change for all vehicles for negotiating area into the lane change, first determines whether that certain vehicle front is
It is no to have roadblock signal, need the request to A-road lane change not need lane change if not having if so, then issuing this vehicle, before normal
Row.
For the vehicle for thering is lane change to request, judge whether its target lane position meets lane change condition, i.e. target lane phase
Whether same level position cellular and prior location cellular are empty, and not to the conflict vehicle of same target position lane change, if so,
The lane change demand for then meeting this vehicle, can be with lane change；If it is not, being then unable to lane change, need to hold consultation with surrounding vehicles；
The vehicle for capableing of direct lane change for meeting lane change condition, as shown in figure 4, if No. 3 member vehicles intracellular allow to become
Road then enables 6 and No. 4 members vehicle if it exists intracellular, then enables it slow down until parking, the vehicle lane change for waiting No. 3 members intracellular are completed；
The existing vehicle for enabling 9 and No. 7 members intracellular equally slows down but not necessarily stops.If No. 2 members vehicle intracellular allows lane change, enable
5 and No. 4 members vehicle deceleration intracellular is until parking, the vehicle lane change for waiting No. 2 members intracellular are completed；Enable 8 and No. 7 members are intracellular to deposit
Vehicle equally slow down but not necessarily stop.
For being unsatisfactory for lane change condition and needing to negotiate the vehicle of lane change, the ramp to stop when the vehicle is close to roadblock is waited
Lane change chance.Meanwhile it holding consultation with surrounding vehicles.As shown in figure 4, enabling 4 and No. 5 if No. 3 member vehicles intracellular need to negotiate
Member vehicle ramp to stop intracellular, No. 8 members vehicle intracellular slow down；If No. 2 member vehicles intracellular need to negotiate, enable 4 and No. 6 members intracellular
Vehicle ramp to stop, No. 9 members number vehicle intracellular slows down.The priority of lane change between vehicle and vehicle be can control in this way in traveling process
In remain constant, meet established rule carry out lane change, established rule is: the same horizontal position, A-road is prior to two vehicles
Lane, right-hand lane is prior to left-hand lane.
To sum up, it realizes the vehicle after negotiating area into lane change and cooperates with lane change, queuing successively passes through from intermediate A-road, energy
Enough shorten the transit time that vehicle imports, improves traffic efficiency, reduce the generation of congestion.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (8)
1. a kind of implementation method of more vehicle collaboration lane changes characterized by comprising
It sets lane change and negotiates area, the lane segment in area is negotiated into the lane change, equal length is divided into the unit length set
Cellular；
Negotiate area when vehicle enters lane change, vehicle proposes lane change request, first according to laterally opposed distance and road before lane change
Lane where curvature judges the vehicle judges the cellular position that the vehicle is located in lane change negotiation area；
Judge whether the target lane position of vehicle lane change meets lane change condition, if so, meet the lane change demand of the vehicle,
Vehicle can directly lane change enter target position；Otherwise it needs and surrounding vehicles is held consultation lane change according to established rule；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to left and right two
Vehicle lane, the right-hand lane of A-road is prior to left-hand lane.
2. a kind of implementation method of more vehicle collaboration lane changes as described in claim 1, which is characterized in that judge target lane position
Whether meet lane change condition and judge whether target lane cellular located horizontally from the emitter and prior location cellular are empty, and not to
The conflict vehicle of same target position lane change, if so, meeting the lane change demand of the vehicle.
3. a kind of implementation method of more vehicle collaboration lane changes as claimed in claim 2, which is characterized in that by one section of road in front of roadblock
Road region is set as more vehicle lane changes and negotiates area.
4. a kind of implementation method of more vehicle collaboration lane changes as claimed in claim 3, which is characterized in that enter the lane change and negotiate
The vehicle in area judges whether vehicle front has roadblock signal, if so, then issuing lane change request.
5. a kind of realization device of more vehicle collaboration lane changes characterized by comprising
It sets lane change and negotiates area's unit, be divided into for the lane segment in area to be negotiated in the lane change with the unit length set
The cellular of equal length；
Vehicle location determination unit, for negotiating area when vehicle enters lane change, vehicle proposes lane change request, the first root before lane change
Lane where judging the vehicle according to laterally opposed distance and road curvature judges that the vehicle is located at the lane change and negotiates area
Interior cellular position；
Lane change cooperates with unit, for judging whether the target lane position of vehicle lane change meets lane change condition, if so, meeting institute
State the lane change demand of vehicle, vehicle can directly lane change enter target position；Otherwise need and surrounding vehicles according to established rule into
Row negotiates lane change；
The established rule that area's lane change is negotiated in the lane change is: the corresponding cellular position of same level, A-road is prior to left and right two
Vehicle lane, the right-hand lane of A-road is prior to left-hand lane.
6. a kind of realization device of more vehicle collaboration lane changes as claimed in claim 5, which is characterized in that the lane change cooperates with unit
Judge whether target lane position meets lane change condition and judge target lane cellular located horizontally from the emitter and prior location cellular
It whether is empty, and not to the conflict vehicle of same target position lane change, if so, meeting the lane change demand of the vehicle.
7. a kind of realization device of more vehicle collaboration lane changes as claimed in claim 6, which is characterized in that the lane change negotiates area and is
One section of road area in front of roadblock.
8. a kind of realization device of more vehicle collaboration lane changes as claimed in claim 7, which is characterized in that enter the lane change and negotiate
The vehicle in area judges whether vehicle front has roadblock signal, if so, then issuing lane change request to lane change collaboration unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811281654.0A CN109326132A (en) | 2018-10-31 | 2018-10-31 | A kind of more vehicles collaboration lane change implementation method and device |
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| CN201811281654.0A CN109326132A (en) | 2018-10-31 | 2018-10-31 | A kind of more vehicles collaboration lane change implementation method and device |
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| CN112509377A (en) * | 2020-11-30 | 2021-03-16 | 重庆长安汽车股份有限公司 | Vehicle cooperative lane change control method based on V2V |
| CN113034956A (en) * | 2021-03-18 | 2021-06-25 | 昆山宝创新能源科技有限公司 | Vehicle lane changing method, device, equipment and storage medium |
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Application publication date: 20190212 |