CN112991792B - Lane changing method, apparatus, computer device and storage medium for vehicle - Google Patents
Lane changing method, apparatus, computer device and storage medium for vehicle Download PDFInfo
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- CN112991792B CN112991792B CN201911288922.6A CN201911288922A CN112991792B CN 112991792 B CN112991792 B CN 112991792B CN 201911288922 A CN201911288922 A CN 201911288922A CN 112991792 B CN112991792 B CN 112991792B
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The present application relates to a lane changing method of a vehicle, a lane changing device of a vehicle, a computer device, and a storage medium. The method comprises the following steps: before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system; judging whether a first target vehicle exists in the current lane or not according to the first road condition information; and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes. By adopting the method, the efficiency of passing through the area to be passed of the vehicle can be improved.
Description
Technical Field
The present disclosure relates to the field of autopilot technology, and in particular, to a lane changing method, apparatus, computer device, and storage medium for a vehicle.
Background
With the continuous development of social economy, road traffic is more and more complex. In order to maintain the driving safety of vehicles in a complex road section such as a tunnel, traffic departments do not allow the vehicles to change lanes in the complex road section. Therefore, traveling in such a complicated road section, the traveling speed of the vehicle will be limited to the traveling speed of the preceding vehicle, resulting in a decrease in the passing efficiency.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a lane changing method, apparatus, computer device, and storage medium capable of being used in a vehicle.
A lane-changing method of a vehicle, the method comprising:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system;
judging whether a first target vehicle exists in the current lane or not according to the first road condition information;
and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes.
In one embodiment, the first road condition information includes a vehicle category and/or a vehicle travel speed.
In one embodiment, the determining, according to the first road condition information in the current lane, whether the first target vehicle exists in the current lane includes:
matching is carried out in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information;
if the matching is successful, a first target vehicle exists in the current lane;
if the matching is unsuccessful, the first target vehicle does not exist in the current lane.
In one embodiment, the determining, according to the first road condition information in the current lane, whether the first target vehicle exists in the current lane includes: and if the vehicle running speed in the first road condition information is smaller than the vehicle running speed of the body vehicle, a first target vehicle exists in the current lane.
In one embodiment, the controlling the host vehicle to change lanes includes:
acquiring second road condition information corresponding to a candidate lane in the region to be passed;
judging whether a second target vehicle exists in the candidate lane according to the road condition information of the candidate lane;
and if the second target vehicle does not exist, controlling the body vehicle to switch to the candidate lane.
In one embodiment, the method further comprises:
if the second target vehicle exists, acquiring the running speed of the second target vehicle;
and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane.
In one embodiment, the area to be passed is a road section where vehicle lane change is prohibited.
In one embodiment, the internet of vehicles system is a V2X network system.
A lane-changing apparatus for a vehicle, the apparatus comprising:
the vehicle networking communication module is used for acquiring first road condition information corresponding to the current lane of the body vehicle based on the vehicle networking system before entering the area to be passed;
the vehicle judging module is used for judging whether a first target vehicle exists in the current lane according to the first road condition information;
and the lane change control module is used for controlling the body vehicle to change lanes when the first target vehicle exists in the current lane.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles network system;
judging whether a first target vehicle exists in the current lane or not according to the first road condition information;
and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system;
judging whether a first target vehicle exists in the current lane or not according to the first road condition information;
and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes. According to the lane changing method, the lane changing device, the computer equipment and the storage medium of the vehicle, before the body vehicle drives into the area to be passed, the first road condition information is acquired based on the vehicle networking system, whether the first target vehicle exists in the current lane or not is judged according to the first road condition information, and if the first target vehicle exists, the body vehicle is controlled to change lanes. The method can enable the vehicle to be changed into the lane with higher traffic efficiency before entering the area to be passed, so that the vehicle can pass through the area to be passed more efficiently on the basis of ensuring the running safety and not violating the traffic rules, and the passing efficiency is improved.
Drawings
FIG. 1 is an application environment diagram of a lane change method of a vehicle in one embodiment;
FIG. 2 is a flow chart of a lane change method of a vehicle in one embodiment;
fig. 3 is a schematic diagram of an application scenario of a lane-changing method of a vehicle in another embodiment;
FIG. 4 is a flowchart illustrating the step S220 in one embodiment;
fig. 5 is a block diagram of a lane-changing apparatus of a vehicle in one embodiment.
Detailed Description
The technical solutions of the embodiments of the present disclosure will be clearly and fully described below with reference to non-limiting example embodiments shown in the drawings and detailed in the following description, more fully explaining example embodiments of the disclosure and their various features and advantageous details. It should be noted that the features illustrated in the drawings are not necessarily drawn to scale. Descriptions of well-known materials, components, and processing techniques are omitted so as to not obscure the example embodiments of the present disclosure. The examples are presented merely to facilitate an understanding of the practice of the example embodiments of the disclosure and to further enable those of skill in the art to practice the example embodiments. Thus, these examples should not be construed as limiting the scope of the embodiments of the disclosure.
Unless specifically defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Furthermore, in various embodiments of the present disclosure, the same or similar reference numerals denote the same or similar components.
In recent years, due to the development of society, vehicles are more and more kept, and the complexity of roads is higher and higher, and in order to ensure traffic safety, authorities have set traffic signs or road markings for prohibiting lane changes in some road sections. When the vehicle is driven into the complex road section, the vehicle speed will be affected by other vehicles in the current lane of the vehicle, resulting in a decrease in the passing efficiency of the vehicle. Accordingly, the present disclosure is directed to providing a lane changing method of a vehicle such that the vehicle selects a suitable traffic lane before driving into the above-described lane change-prohibited complex road section, thereby enabling the above-described technical problems to be solved.
The following describes in detail a specific implementation manner of a lane changing method for a vehicle provided by an embodiment of the present disclosure with reference to the accompanying drawings.
The execution subject of the method according to each embodiment of the present disclosure may be a lane-changing control apparatus of a vehicle, which may be implemented as part or all of the vehicle by software, hardware, or a combination of software and hardware, that is, the apparatus may be an independent vehicle, or may be some device installed on the vehicle, for example, the apparatus may be a vehicle body on the vehicle, a console of the vehicle, a control system, etc., and for convenience of description, the execution subject of the method embodiment described below is exemplified by a body vehicle.
The subject vehicles according to embodiments of the present disclosure include, but are not limited to: vehicles such as an internal combustion engine vehicle or motorcycle, an electric power assisted vehicle, an electric balance vehicle, and a remote control vehicle, and various modifications of the vehicles. The vehicle referred to herein may be a single oil-way vehicle, a single gas-way vehicle, an oil-gas combined vehicle, or an electric power-assisted vehicle, and the type of the body vehicle is not limited by the embodiments of the present disclosure.
The lane changing method and device for the vehicle, disclosed by the embodiment of the invention, can be applied to the Internet of vehicles system shown in fig. 1. As shown in fig. 1, the network architecture may include a plurality of vehicles and a vehicle networking system formed by connecting the vehicle networking between the plurality of vehicles, and optionally, the vehicle networking system may further include a cloud server. Specifically, the internet of vehicles may be a internet of vehicles (vehicle to everything, V2X for short), a workshop interconnection technology (vehicle to vehicle, V2V for short), or a mobile network technology (e.g., 2G network, 3G network, 4G network, or 5G network), a wireless fidelity (Wireless Fidelity, WIFI for short), a bluetooth communication network, etc., which is not limited to a specific type or a specific form of the internet of vehicles.
Fig. 2 is a flow chart of a lane-changing method for a vehicle according to an embodiment of the disclosure. As shown in fig. 2, the method specifically includes the following steps:
s210, before the vehicle is about to drive into the area to be passed, the body vehicle acquires first road condition information corresponding to the current lane of the body vehicle through the vehicle networking system. The area to be passed is an area where the vehicle is about to drive in.
In particular, the area to be travelled in the present disclosure may include one or more road segments prohibiting vehicle lane changes, which may include bridges, tunnels, curves, ramps, graded road segments, intersection entry segments, or other road segments prohibiting lane changes. It will be appreciated that the area to be travelled should have a plurality of lanes in the same direction.
And before the body vehicle is driven into the area to be passed, acquiring first road condition information corresponding to the current lane of the body vehicle through a vehicle system. The current lane of the host vehicle refers to a lane in which the vehicle is traveling before entering the area to be passed. Alternatively, the first road condition information corresponding to the current lane may include a vehicle category, a vehicle traveling speed, a predicted passage time, and the like of one or more vehicles traveling on the current lane and in front of the host vehicle (in front of the host vehicle in the traveling direction of the host vehicle). Fig. 3 is a schematic view of an application scenario of a lane changing method according to an embodiment of the disclosure. The area 300 to be passed in fig. 3 includes three lanes 310, 320, 330, and the vehicle is traveling in the lane 310 before entering the area 300 to be passed, i.e., the current lane of the host vehicle is the lane 310. Thus, if the host vehicle does not perform the lane-changing method provided by the present disclosure, the host vehicle will travel in the lane 310 until passing through the to-be-passed area 300. And the first road condition information corresponding to the current lane may be a vehicle category, a vehicle traveling speed, an estimated passage time, etc. of the vehicle 311, 312, or 313 traveling in the current lane 310.
In practice, traffic management departments often set traffic marks or traffic marks for prohibiting lane change in front of the road sections, so that optionally, the body vehicle can identify the traffic marks or traffic marks through an on-board sensor so as to judge whether the vehicle is about to drive into an area to be passed, or can obtain front road section information through an internet of vehicles system and the like, and judge whether the vehicle is about to drive into the area to be passed according to the road section information. That is, the embodiments of the present disclosure are not limited to a specific method of how the host vehicle determines that it is about to drive into the area to be passed.
It should be noted that the present disclosure is not limited to when the host vehicle accesses the internet of vehicles system. Optionally, before the body vehicle enters the area to be passed, the body vehicle is connected to the internet of vehicles system, and the first road condition information corresponding to the current lane of the body vehicle is obtained through the internet of vehicles system. The body vehicle can be always in the internet of vehicles system, and only before entering the area to be passed, a request for acquiring the first road condition information corresponding to the current lane of the body vehicle is sent.
S220, judging whether a first target vehicle exists in the current lane according to the first road condition information.
And S230, if the first target vehicle exists in the current lane, controlling the host vehicle to change lanes.
Specifically, after the host vehicle obtains the first road condition information, it may be determined whether the first target vehicle exists in the current lane according to the first road condition information. It is understood that the first target vehicle refers to a vehicle existing in the current lane that may affect the speed of the passing of the host vehicle, and thus the first target vehicle is a prerequisite for requiring lane change, i.e., if the first target vehicle exists in the current lane, it is necessary to control the host vehicle to lane change. In practice, since the content included in the first road condition information may be different according to different application requirements, the manner of determining whether the first target vehicle exists in the current lane according to the first road condition information may also be different. Alternatively, the first road condition information may include a vehicle category and/or a vehicle travel speed. For example, when the first road condition information includes a passing duration of one or more vehicles expected to pass through the area to be passed, the passing duration of the body vehicle may be compared with a passing duration of each vehicle in the first road condition information, and if the passing duration of the body vehicle is longest, it is not necessary to control the lane change of the body vehicle; otherwise, controlling the host vehicle to change lanes.
According to the vehicle lane changing method provided by the embodiment, before the body vehicle drives into the area to be passed, the first road condition information is acquired based on the vehicle networking system, whether the first target vehicle exists in the current lane or not is judged according to the first road condition information, and if the first target vehicle exists, the body vehicle is controlled to change lanes. The method can enable the vehicle to be changed into the lane with higher traffic efficiency before entering the area to be passed, so that the vehicle can pass through the area to be passed more efficiently on the basis of ensuring the running safety and not violating the traffic rules, and the passing efficiency is improved.
Referring to fig. 4, fig. 4 is a flowchart of step S220 provided in one embodiment. Optionally, when the first road condition information includes a vehicle category, the step of determining whether the first target vehicle exists in the current lane according to the first road condition information in step S220 includes:
s221, matching is carried out in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information.
S222, if the matching is successful, a first target vehicle exists in the current lane.
S223, if the matching is unsuccessful, the first target vehicle does not exist in the current lane.
Specifically, the vehicle category may be flexibly set according to different application environments, and the category to which the target vehicle belongs is stored in the host vehicle as a category list. For example, according to a priori knowledge, vehicles may be classified into cars, buses, trucks, trailers, tricycles, etc. in order of high traffic efficiency, and if the host vehicle is a car, a category list pre-stored in the host vehicle may be set to include buses, trucks, trailers, tricycles; if the body vehicle is a truck, the category list pre-stored in the body vehicle can be set as a trailer or an electric tricycle.
Optionally, when one or more vehicle categories in the first road condition information are respectively matched in a category list pre-stored in the body vehicle, if the matching is successful, the fact that the first target vehicle affecting the passing efficiency of the body vehicle exists in the current lane is indicated, and if the matching is not successful, the fact that the first target vehicle affecting the passing efficiency of the body vehicle does not exist in the current lane is indicated.
According to the vehicle lane changing method provided by the embodiment, whether the first target vehicle exists is judged by identifying the vehicle type, and the vehicle type can be obtained without real-time monitoring, so that the method for judging the first target vehicle by the vehicle type is higher in efficiency, and communication resources are saved.
Optionally, when the first road condition information includes a vehicle running speed, the step S220 of determining whether the first target vehicle exists in the current lane according to the first road condition information includes: and if the vehicle running speed in the first road condition information is smaller than the vehicle running speed of the body vehicle, a first target vehicle exists in the current lane.
The vehicle travel speed in the first road condition information is generally the travel speed of other vehicles on the same lane as the host vehicle. Optionally, if another vehicle exists in the same lane in front of the host vehicle, the vehicle running speed of the other vehicle is acquired as the first road condition information. Specifically, a request for acquiring the running speed may be sent by the host vehicle to the other vehicle through the internet of vehicles system, and the other vehicle responds to the request and sends the real-time speed of the other vehicle to the host vehicle. The host vehicle determines whether the traveling speed of the other vehicle is smaller than the traveling speed of the host vehicle, and if so, determines the other vehicle as the first target vehicle.
According to the vehicle lane change method provided by the embodiment, whether the first target vehicle is the first target vehicle or not is judged through the vehicle speed, and whether lane change is needed or not is further determined, and because the vehicle speed is a main factor affecting the passing efficiency of the body vehicle, the accuracy of determining whether the first target vehicle is in lane change or not in specific application is high based on the running speed.
In one embodiment, based on the embodiment shown in fig. 2, the step of controlling the host vehicle to change lanes includes: acquiring second road condition information corresponding to a candidate lane in the region to be passed; judging whether a second target vehicle exists in the candidate lane according to the road condition information of the candidate lane; and if the second target vehicle does not exist, controlling the body vehicle to be changed to the candidate lane.
Specifically, when the first target vehicle exists in the current lane, second road condition information corresponding to the candidate lane is acquired in the area to be passed. Alternatively, the candidate lane may be a left lane or a right lane of the current lane of the subject vehicle. Alternatively, the second road condition information corresponding to the candidate lane may include a vehicle category, a vehicle traveling speed, a predicted passage time, and the like of one or more vehicles traveling on the candidate lane and in front of the host vehicle (in front of the host vehicle in the traveling direction of the host vehicle). The second target vehicle refers to a vehicle in the candidate lane that may affect the efficiency of the passing of the host vehicle. The method for judging whether the second target vehicle exists according to the second road condition information is similar to the method for judging whether the first target vehicle exists according to the first road condition information, and is not repeated. It should be noted that, the method for determining whether the second target vehicle exists according to the second road condition information may be the same as or different from the method for determining whether the first target vehicle exists according to the first road condition information.
When the candidate lane does not have the second target vehicle, the traffic efficiency of the candidate lane is higher than that of the current lane, and the host vehicle is controlled to be changed to the candidate lane. Optionally, if the second target vehicle exists in the candidate lane, acquiring a running speed of the second target vehicle; and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane. That is, if there is a second target vehicle in the candidate lane, a request for acquiring the traveling speed may be issued by the host vehicle to the first target vehicle and the second target vehicle, respectively, through the internet of vehicles system, and the first target vehicle and the second target vehicle respond to the request, respectively, and the real-time vehicle speed of the corresponding vehicle is transmitted to the host vehicle. The body vehicle judges whether the speed of the second target vehicle is greater than the running speed of the first target vehicle, and if so, the body vehicle is controlled to change lanes to the candidate lane.
Further alternatively, after the host vehicle changes lanes to the candidate lanes, it may be compared again whether the speed of the second target vehicle is smaller than the speed of the host vehicle, and if the speed of the second target vehicle is smaller than the speed of the host vehicle, the candidate lanes are taken as the current lanes, and the method provided by the embodiments of the present disclosure is re-executed until all the lanes in the area to be travelled are traversed.
According to the vehicle lane changing method, when the first target vehicle exists in the current lane, whether the second target vehicle exists in the candidate lane is further judged, if the second target vehicle does not exist, the body vehicle is controlled to be changed to the candidate lane, and if the second target vehicle exists, the speed of the second target vehicle is further compared with the speed of the first target vehicle, so that the passing efficiency is better guaranteed.
It should be understood that, although the steps in the flowcharts of fig. 2 and 4 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2, 4 may comprise a plurality of sub-steps or phases, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or sub-steps of other steps.
In one embodiment, as shown in fig. 5, there is provided a lane-changing apparatus for a vehicle, the apparatus comprising:
the internet of vehicles communication module 610 is configured to obtain, based on an internet of vehicles network system, first road condition information corresponding to a current lane of a host vehicle before entering an area to be passed;
a vehicle judging module 620, configured to judge whether a first target vehicle exists in the current lane according to the first road condition information;
the lane change control module 630 is configured to control the host vehicle to change lanes when the first target vehicle exists in the current lane.
In one embodiment, the first road condition information includes a vehicle category and/or a vehicle travel speed.
In one embodiment, the vehicle determination module includes:
and the matching unit is used for matching in a category list prestored in the body vehicle according to the vehicle category in the first road condition information.
The result judging unit is used for judging that the first target vehicle exists in the current lane if the matching is successful, and judging that the first target vehicle does not exist in the current lane if the matching is unsuccessful.
In one embodiment, the vehicle determining module is specifically configured to determine that the first target vehicle exists in the current lane if the vehicle running speed in the first road condition information is less than the vehicle running speed of the host vehicle.
In one embodiment, the lane change control module includes:
the second road condition information acquisition unit is used for acquiring second road condition information corresponding to the candidate lane in the to-be-passed area;
the second vehicle judging unit is used for judging whether a second target vehicle exists in the candidate lane according to the second road condition information of the candidate lane;
and the lane change candidate unit is used for controlling the body vehicle to change to the lane change candidate if the second target vehicle does not exist.
The specific limitation of the lane-changing apparatus of the vehicle may be referred to as the limitation of the lane-changing method of the vehicle hereinabove, and will not be described herein. The various modules in the vehicle lane-changing apparatus described above may be implemented in whole or in part in software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system; judging whether a first target vehicle exists in the current lane or not according to the first road condition information; and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes.
In one embodiment, the determining, by the processor executing the computer program, whether the first target vehicle exists in the current lane according to the first road condition information in the current lane includes: matching is carried out in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information; if the matching is successful, judging that a first target vehicle exists in the current lane; if the matching is unsuccessful, judging that the first target vehicle does not exist in the current lane.
In one embodiment, the determining, by the processor executing the computer program, whether the first target vehicle exists in the current lane according to the first road condition information in the current lane includes: and if the vehicle running speed in the first road condition information is smaller than the vehicle running speed of the body vehicle, judging that a first target vehicle exists in the current lane.
In one embodiment, the controlling the host vehicle to change lanes when the processor executes the computer program comprises: acquiring second road condition information corresponding to a candidate lane in the region to be passed; judging whether a second target vehicle exists in the candidate lane according to the road condition information of the candidate lane; and if the second target vehicle does not exist, controlling the body vehicle to switch to the candidate lane.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the second target vehicle exists, acquiring the running speed of the second target vehicle; and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system; judging whether a first target vehicle exists in the current lane or not according to the first road condition information; and if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes.
In one embodiment, the determining, by the processor executing the computer program, whether the first target vehicle exists in the current lane according to the first road condition information in the current lane includes: matching is carried out in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information; if the matching is successful, a first target vehicle exists in the current lane; if the matching is unsuccessful, the first target vehicle does not exist in the current lane.
In one embodiment, the determining, by the processor executing the computer program, whether the first target vehicle exists in the current lane according to the first road condition information in the current lane includes: and if the running speed of the vehicle in the first road condition information is smaller than the running speed of the body vehicle, a first target vehicle exists in the current lane.
In one embodiment, the controlling the host vehicle to change lanes when the processor executes the computer program comprises: acquiring second road condition information corresponding to a candidate lane in the region to be passed; judging whether a second target vehicle exists in the candidate lane according to the road condition information of the candidate lane; and if the second target vehicle does not exist, controlling the body vehicle to switch to the candidate lane.
In one embodiment, the computer program when executed by the processor further performs the steps of: if the second target vehicle exists, acquiring the running speed of the second target vehicle; and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (11)
1. A lane-changing method of a vehicle, the method comprising:
before entering an area to be passed, acquiring first road condition information corresponding to a current lane of a body vehicle based on an Internet of vehicles system, wherein the area to be passed comprises one or more road sections for prohibiting the vehicle from changing lanes;
judging whether a first target vehicle exists in the current lane according to the first road condition information, wherein the first target vehicle refers to a vehicle which exists in the current lane and affects the passing speed of the body vehicle;
if the first target vehicle exists in the current lane, controlling the body vehicle to change lanes;
wherein the first road condition information includes a vehicle category; and is also provided with
Wherein the determining whether the first target vehicle exists in the current lane according to the first road condition information in the current lane includes:
matching is carried out in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information;
if the matching is successful, judging that a first target vehicle exists in the current lane;
if the matching is unsuccessful, judging that the first target vehicle does not exist in the current lane.
2. The method of claim 1, wherein the first road condition information further comprises a vehicle travel speed, wherein the determining whether the first target vehicle is present in the current lane according to the first road condition information in the current lane further comprises:
and if the vehicle running speed in the first road condition information is smaller than the vehicle running speed of the body vehicle, a first target vehicle exists in the current lane.
3. The method of claim 1, wherein the controlling the host vehicle to change lanes comprises:
acquiring second road condition information corresponding to a candidate lane in the region to be passed;
judging whether a second target vehicle exists in the candidate lane according to the second road condition information of the candidate lane, wherein the second target vehicle refers to a vehicle which exists in the candidate lane and affects the passing efficiency of the body vehicle;
and if the second target vehicle does not exist in the candidate lane, controlling the body vehicle to change to the candidate lane.
4. A method according to claim 3, characterized in that the method further comprises:
if the second target vehicle exists, acquiring the running speed of the second target vehicle;
and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane.
5. The method of any one of claims 1-4, wherein the internet of vehicles system is a V2X network system.
6. A lane-changing apparatus for a vehicle, the apparatus comprising:
the vehicle networking communication module is used for acquiring first road condition information corresponding to a current lane of a body vehicle based on a vehicle networking system before entering an area to be passed, wherein the area to be passed comprises one or more road sections for prohibiting the vehicle from changing lanes;
the vehicle judging module is used for judging whether a first target vehicle exists in the current lane according to the first road condition information, wherein the first target vehicle refers to a vehicle which exists in the current lane and affects the passing speed of the body vehicle;
the lane change control module is used for controlling the body vehicle to change lanes when the first target vehicle exists in the current lane; and is also provided with
Wherein the first road condition information includes a vehicle category;
the vehicle judging module is used for matching in a category list pre-stored in the body vehicle according to the vehicle category in the first road condition information; if the matching is successful, judging that a first target vehicle exists in the current lane; if the matching is unsuccessful, judging that the first target vehicle does not exist in the current lane.
7. The apparatus of claim 6, wherein the vehicle determination module is further configured to determine that a first target vehicle is present in the current lane if the vehicle travel speed in the first road condition information is less than the vehicle travel speed of the host vehicle.
8. The apparatus of claim 6, wherein the lane change control module is further configured to obtain second road condition information corresponding to a candidate lane in the to-be-passed area; judging whether a second target vehicle exists in the candidate lane according to the second road condition information of the candidate lane, wherein the second target vehicle refers to a vehicle which exists in the candidate lane and affects the passing efficiency of the body vehicle; and if the second target vehicle does not exist, controlling the body vehicle to switch to the candidate lane.
9. The apparatus of claim 8, wherein the lane-change control module is further configured to obtain a travel speed of the second target vehicle if the second target vehicle is present; and if the running speed of the second target vehicle is greater than that of the first target vehicle, controlling the body vehicle to switch to the candidate lane.
10. A computer device, characterized in that the device comprises a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 5 when the computer program is executed.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 5.
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