TWI840588B - Vehicle-mounted device and path planning method for lane change - Google Patents
Vehicle-mounted device and path planning method for lane change Download PDFInfo
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本發明涉及一種汽車輔助安全管理技術領域，尤其涉及一種變道規劃方法及車載裝置。 The present invention relates to a field of automobile auxiliary safety management technology, and in particular to a lane change planning method and a vehicle-mounted device.
車輛已成為人們生活的必備工具。行車過程中也常常有變換車道的需求。然而，車輛所在的行車環境中的其他車輛很可能會影響變道安全。 Vehicles have become an essential tool for people's lives. There is often a need to change lanes while driving. However, other vehicles in the driving environment of the vehicle may affect the safety of lane change.
鑒於以上內容，有必要提供一種變道規劃方法及車載裝置，可有效提升變道安全係數。 In view of the above, it is necessary to provide a lane change planning method and a vehicle-mounted device that can effectively improve the lane change safety factor.
所述變道規劃方法包括：基於車輛當前所在車道及相鄰車道規劃第一變道路徑；控制所述車輛基於所述第一變道路徑行駛，並當所述車輛行駛至第一目標位置時，偵測第一目標物體，其中，所述第一目標位置由所述第一變道路徑、所述當前所在車道與所述相鄰車道之間的分界線確定；及當偵測到所述第一目標物體不在預設距離之內時，控制所述車輛基於所述第一變道路徑行駛。 The lane change planning method includes: planning a first lane change path based on the current lane of the vehicle and the adjacent lane; controlling the vehicle to drive based on the first lane change path, and detecting a first target object when the vehicle drives to a first target position, wherein the first target position is determined by the first lane change path, the boundary between the current lane and the adjacent lane; and when it is detected that the first target object is not within a preset distance, controlling the vehicle to drive based on the first lane change path.
優選地，所述第一目標位置為目標範圍之內的任意位置，該目標範圍是指以所述第一變道路徑與所述分界線的交點為圓心，半徑為預設值d的圓所在範圍。 Preferably, the first target position is any position within the target range, and the target range refers to the range of a circle with the intersection of the first change path and the dividing line as the center and a radius of a preset value d.
優選地，所述第一目標物體為行駛在所述相鄰車道，且位於所述車 輛的後方或側方的其他車輛。 Preferably, the first target object is another vehicle driving in the adjacent lane and located behind or to the side of the vehicle.
優選地，該方法還包括：當偵測到所述第一目標物體在所述預設距離之內時，控制所述車輛沿所述車輛當前所在車道行駛至第二目標位置；於所述車輛行駛至所述第二目標位置時，再次偵測所述第一目標物體；及當在所述第二目標位置偵測到所述第一目標物體不在所述預設距離之內時，基於所述車輛當前所在車道以及所述相鄰車道規劃第二變道路徑，並控制所述車輛基於所述第二變道路徑行駛。 Preferably, the method further comprises: when the first target object is detected within the preset distance, controlling the vehicle to travel along the lane where the vehicle is currently located to a second target position; when the vehicle travels to the second target position, detecting the first target object again; and when the first target object is detected at the second target position not within the preset distance, planning a second lane change path based on the lane where the vehicle is currently located and the adjacent lane, and controlling the vehicle to travel based on the second lane change path.
優選地，該方法還包括：當在所述第二目標位置偵測到所述第一目標物體在所述預設距離之內時，偵測第二目標物體；及當偵測到所述第二目標物體不在所述預設距離之內時，基於所述第二目標位置以及所述車輛當前所在車道的中心線規劃第三變道路徑，並控制所述車輛基於所述第三變道路徑行駛。 Preferably, the method further comprises: when the first target object is detected within the preset distance at the second target position, detecting the second target object; and when the second target object is detected not within the preset distance, planning a third path change path based on the second target position and the center line of the lane where the vehicle is currently located, and controlling the vehicle to travel based on the third path change path.
優選地，所述第二目標位置為所述車輛沿所述車輛當前所在車道行駛預設時長所到達的位置。 Preferably, the second target position is the position reached by the vehicle after driving along the lane where the vehicle is currently located for a preset time.
優選地，所述第二目標物體為行駛在所述車輛當前所在車道，且位於所述車輛的後方的其他車輛。 Preferably, the second target object is another vehicle driving in the lane where the vehicle is currently located and located behind the vehicle.
優選地，所述第一變道路徑為一包括時間與加速度的函數式，其中，所述時間為所述車輛執行變道的時間，所述加速度為所述車輛執行變道的側向加速度。 Preferably, the first lane change path is a function including time and acceleration, wherein the time is the time for the vehicle to change lanes, and the acceleration is the lateral acceleration of the vehicle when changing lanes.
優選地，該方法透過高精地圖取得所述車輛當前所在車道、相鄰車道及分界線的資訊。 Preferably, the method obtains information about the lane the vehicle is currently in, adjacent lanes and dividing lines through a high-precision map.
所述車載裝置包括儲存器和處理器，所述儲存器用於儲存至少一個電腦可讀指令，所述處理器用於執行所述至少一個電腦可讀指令以實現所述的變道規劃方法。 The vehicle-mounted device includes a memory and a processor, wherein the memory is used to store at least one computer-readable instruction, and the processor is used to execute the at least one computer-readable instruction to implement the lane change planning method.
相較於習知技術，所述變道規劃方法及車載裝置，可有效提升變道安全係數。 Compared with the conventional technology, the lane change planning method and vehicle-mounted device can effectively improve the safety factor of lane change.
100、200:車輛 100, 200: Vehicles
3:車載裝置 3: Vehicle-mounted device
32:處理器 32: Processor
31:儲存器 31: Storage
30:變道規劃系統 30: Lane change planning system
301:執行模組 301: Execution module
302:偵測模組 302: Detection module
34:探測設備 34: Detection equipment
35:顯示幕 35: Display screen
36:定位設備 36: Positioning equipment
37:方向燈 37: Direction lights
39:高精地圖 39: High-precision map
a、b:車道 a, b: Lanes
d:半徑 d: Radius
a0、b0:車道中心線 a0, b0: Lane centerline
c:分界線 c: dividing line
T1、T2、T3:變道路徑 T1, T2, T3: Change path
圖1是本發明較佳實施例的車載裝置的架構圖。 Figure 1 is a structural diagram of a vehicle-mounted device of a preferred embodiment of the present invention.
圖2是本發明較佳實施例的變道規劃系統的功能模組圖。 Figure 2 is a functional module diagram of the lane change planning system of the preferred embodiment of the present invention.
圖3是本發明較佳實施例的變道規劃方法的流程圖。 Figure 3 is a flow chart of the lane change planning method of the preferred embodiment of the present invention.
圖4舉例說明變道路徑規劃。 Figure 4 illustrates an example of route change planning.
圖5舉例說明目標位置。 Figure 5 shows an example of the target location.
圖6舉例說明到達目標位置時偵測到影響變道安全的其他車輛。 Figure 6 shows an example of detecting other vehicles that may affect lane change safety when reaching the target location.
為了能夠更清楚地理解本發明的上述目的、特徵和優點，下面結合附圖和具體實施例對本發明進行詳細描述。需要說明的是，在不衝突的情況下，本發明的實施例及實施例中的特徵可以相互組合。 In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is described in detail below in conjunction with the attached drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.
在下面的描述中闡述了很多具體細節以便於充分理解本發明，所描述的實施例僅僅是本發明一部分實施例，而不是全部的實施例。基於本發明中的實施例，本領域普通技術人員在沒有做出創造性勞動前提下所獲得的所有其他實施例，都屬於本發明保護的範圍。 In the following description, many specific details are explained to facilitate a full understanding of the present invention. The embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of the present invention.
除非另有定義，本文所使用的所有的技術和科學術語與屬於本發明的技術領域的技術人員通常理解的含義相同。本文中在本發明的說明書中所使用的術語只是為了描述具體的實施例的目的，不是旨在於限制本發明。 Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.
參閱圖1所示，為本發明較佳實施例提供的車載裝置的架構圖。 Refer to Figure 1, which is a structural diagram of the vehicle-mounted device provided by the preferred embodiment of the present invention.
本實施例中，車載裝置3設置在車輛100上。所述車載裝置3也可以叫作車載電腦，包括互相之間電氣連接的儲存器31、至少一個處理器32、一個或多個探測設備34、顯示幕35、定位設備36、方向燈37。
In this embodiment, the vehicle-mounted device 3 is installed on the
本領域技術人員應該瞭解，圖1示出的車載裝置3的結構並不構成本發明實施例的限定，所述車載裝置3還可以包括比圖1更多或更少的其他硬體或者軟體，或者不同的部件佈置。 Those skilled in the art should understand that the structure of the vehicle-mounted device 3 shown in FIG. 1 does not constitute a limitation of the embodiment of the present invention, and the vehicle-mounted device 3 may also include more or less other hardware or software than that shown in FIG. 1, or a different arrangement of components.
需要說明的是，所述車載裝置3僅為舉例，其他現有的或今後可能出現的車載裝置如可適應於本發明，也應包含在本發明的保護範圍以內，並以引用方式包含於此。 It should be noted that the vehicle-mounted device 3 is only an example. Other existing or future vehicle-mounted devices that are suitable for the present invention should also be included in the protection scope of the present invention and are included here by reference.
在一些實施例中，所述儲存器31可以用於儲存電腦程式的程式碼和各種資料。例如，所述儲存器31可以用於儲存安裝在所述車載裝置3中的變道規劃系統30、高精地圖39，並在車載裝置3的運行過程中實現高速、自動地完成程式或資料的存取。所述儲存器31可以是包括唯讀儲存器(Read-Only Memory，ROM)、可程式設計唯讀儲存器(Programmable Read-Only Memory，PROM)、可抹除可程式設計唯讀儲存器(Erasable Programmable Read-Only Memory，EPROM)、一次可程式設計唯讀儲存器(One-time Programmable Read-Only Memory，OTPROM)、電子抹除式可複寫唯讀儲存器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、唯讀光碟(Compact Disc Read-Only Memory，CD-ROM)或其他光碟儲存器、磁碟儲存器、磁帶儲存器、或者任何其他能夠用於攜帶或儲存資料的非易失性的電腦可讀的儲存介質。 In some embodiments, the memory 31 can be used to store computer program codes and various data. For example, the memory 31 can be used to store the lane change planning system 30 and the high-precision map 39 installed in the vehicle-mounted device 3, and realize high-speed and automatic access to programs or data during the operation of the vehicle-mounted device 3. The memory 31 may include a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, a magnetic disk storage, a magnetic tape storage, or any other non-volatile computer-readable storage medium that can be used to carry or store data.
在一些實施例中，所述至少一個處理器32可以由積體電路組成。例如，可以由單個封裝的積體電路所組成，也可以是由多個相同功能或不同功能封裝的積體電路所組成，包括一個或者多個中央處理器(Central Processing unit，CPU)、微處理器、數文書處理晶片、圖形處理器及各種控制晶片的組合等。所述至少一個處理器32是所述車載裝置3的控制核心(Control Unit)，利用各種介面和線路連接整個車載裝置3的各個部件，透過執行儲存在所述儲存器31內的程式或者模組或者指令，以及調用儲存在所述儲存器31內的資料，以執行車載裝置3的各種功能和處理資料，例如，規劃變道路徑的功能(具體細節參後面對圖3的介紹)。 In some embodiments, the at least one processor 32 may be composed of an integrated circuit, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital word processing chips, graphics processors, and combinations of various control chips. The at least one processor 32 is the control core (Control Unit) of the vehicle-mounted device 3. It uses various interfaces and lines to connect various components of the entire vehicle-mounted device 3. It executes the programs, modules or instructions stored in the memory 31 and calls the data stored in the memory 31 to execute various functions of the vehicle-mounted device 3 and process data, such as the function of planning the path change (for details, refer to the introduction of Figure 3 later).
在本實施例中，所述探測設備34可以為超聲波感測器、雷達或者攝像頭或者兩者或多者的組合。所述一個或多個探測設備34可以分別安裝在所
述車輛100上，只要使得車載裝置3利用所述一個或多個探測設備34能夠探測到目標物體即可。
In this embodiment, the detection device 34 can be an ultrasonic sensor, a radar or a camera or a combination of two or more. The one or more detection devices 34 can be installed on the
本實施例中，所述目標物體可以是指行駛在相鄰車道，且位於所述車輛100的後方或側方，且距所述車輛100為預設距離(例如10米或其他距離值)的其他車輛。所述目標物體也可以是指行駛在所述車輛100當前所在車道，且位於所述車輛100的後方，且距所述車輛100為所述預設距離的其他車輛。
In this embodiment, the target object may refer to another vehicle that is traveling in an adjacent lane, and is located behind or to the side of the
本實施例中，所述相鄰車道是指與所述車輛100當前所在車道相鄰的左側車道(以下稱為“左側相鄰車道”)或者與所述車輛100當前所在車道相鄰的右側車道(以下稱為“右側相鄰車道”)。 In this embodiment, the adjacent lane refers to the left lane adjacent to the lane currently located by the vehicle 100 (hereinafter referred to as the "left adjacent lane") or the right lane adjacent to the lane currently located by the vehicle 100 (hereinafter referred to as the "right adjacent lane").
本實施例中，所述顯示幕35可以為觸摸顯示幕，用於顯示所述車載裝置3的各種資料，例如顯示高精地圖39的使用者介面。本實施例中，所述高精地圖39可以為百度高精地圖或者其他地圖如谷歌高精地圖。 In this embodiment, the display screen 35 can be a touch screen for displaying various data of the vehicle-mounted device 3, such as a user interface for displaying a high-precision map 39. In this embodiment, the high-precision map 39 can be a Baidu high-precision map or other maps such as Google high-precision map.
本實施例中，所述高精地圖39指示了每條道路的每個車道、每個車道的中心線、兩個車道之間的分界線，以及分界線的樣式等特徵。 In this embodiment, the high-precision map 39 indicates each lane of each road, the center line of each lane, the dividing line between two lanes, and the pattern of the dividing line and other features.
需要說明的是，所述兩個車道之間分界線的樣式可以用於指示車輛是否可以在該兩個車道之間進行變道。例如，當兩個車道之間分界線的樣式為白色虛線時，則車輛可以在該兩個車道之間進行變道。又如，當兩個車道之間分界線的樣式為白色實線時，則車輛不可以在該兩個車道之間進行變道。 It should be noted that the pattern of the dividing line between the two lanes can be used to indicate whether a vehicle can change lanes between the two lanes. For example, when the pattern of the dividing line between the two lanes is a white dotted line, the vehicle can change lanes between the two lanes. For another example, when the pattern of the dividing line between the two lanes is a white solid line, the vehicle cannot change lanes between the two lanes.
在其他實施例中，車載裝置3利用所述一個或多個探測設備34還可以拍攝到所述車輛100當前所在車道與所述相鄰車道之間的分界線。
In other embodiments, the vehicle-mounted device 3 can also capture the boundary between the lane where the
本實施例中，所述定位設備36可以用於定位車輛100當前所處的位置(如經緯度資訊)。在一個實施例中，所述定位設備36可以為全球定位系統(Global Positioning System，簡稱：GPS)、輔助全球衛星定位系統(Assisted Global Positioning System，簡稱：AGPS)、北斗衛星導航系統(BeiDou Navigation Satellite System，BDS)，或格洛納斯衛星導航系統(GLOBAL NAVIGATION SATELLITE SYSTEM，GLONASS)中的一者或者多者的組合。 In this embodiment, the positioning device 36 can be used to locate the current position of the vehicle 100 (such as latitude and longitude information). In one embodiment, the positioning device 36 can be a combination of one or more of the Global Positioning System (GPS), the Assisted Global Positioning System (AGPS), the BeiDou Navigation Satellite System (BDS), or the GLOBAL NAVIGATION SATELLITE SYSTEM (GLONASS).
所述方向燈37用於在車輛100轉向時開啟以提示車輛100的前後左右的其他車輛及行人注意的指示燈。所述方向燈37包括左轉向燈和右轉向燈(圖中未示出)。
The turn signal light 37 is used to turn on when the
在本實施例中，變道規劃系統30可以包括一個或多個模組，所述一個或多個模組儲存在所述儲存器31中，並由至少一個或多個處理器(本實施例為處理器32)執行，以實現規劃變道路徑的功能。 In this embodiment, the lane change planning system 30 may include one or more modules, which are stored in the memory 31 and executed by at least one or more processors (processor 32 in this embodiment) to realize the function of planning the lane change path.
在本實施例中，所述變道規劃系統30根據其所執行的功能，可以被劃分為多個模組。參閱圖2所示，所述多個模組包括執行模組301及偵測模組302。本發明所稱的模組是指一種能夠被至少一個處理器(例如處理器32)所執行並且能夠完成固定功能的一系列電腦可讀的指令段，其儲存在儲存器(例如車載裝置3的儲存器31)中。在本實施例中，關於各模組的功能將在後續結合圖3詳述。 In this embodiment, the lane change planning system 30 can be divided into multiple modules according to the functions it performs. Referring to FIG. 2 , the multiple modules include an execution module 301 and a detection module 302. The module referred to in the present invention refers to a series of computer-readable instruction segments that can be executed by at least one processor (such as processor 32) and can complete fixed functions, which are stored in a memory (such as memory 31 of the vehicle-mounted device 3). In this embodiment, the functions of each module will be described in detail later in conjunction with FIG. 3 .
本實施例中，以軟體功能模組的形式實現的集成的單元，可以儲存在一個非易失性可讀取儲存介質中。上述軟體功能模組包括一個或多個電腦可讀指令，所述車載裝置3或一個處理器(processor)透過執行所述一個或多個電腦可讀指令實現本發明各個實施例的方法的部分，例如圖3所示的規劃變道路徑的方法。 In this embodiment, the integrated unit implemented in the form of a software function module can be stored in a non-volatile readable storage medium. The above-mentioned software function module includes one or more computer-readable instructions, and the vehicle-mounted device 3 or a processor implements part of the method of each embodiment of the present invention by executing the one or more computer-readable instructions, such as the method for planning a path change shown in Figure 3.
在進一步的實施例中，結合圖2，所述至少一個處理器32可執行所述車載裝置3的作業系統以及安裝的各類應用程式(如所述的變道規劃系統30)、程式碼等。 In a further embodiment, in conjunction with FIG. 2 , the at least one processor 32 can execute the operating system of the vehicle-mounted device 3 and various installed applications (such as the lane change planning system 30 ), program codes, etc.
在進一步的實施例中，所述儲存器31中儲存有電腦程式的程式碼，且所述至少一個處理器32可調用所述儲存器31中儲存的程式碼以執行相關的功能。例如，圖2中所述變道規劃系統30的各個模組是儲存在所述儲存器31中的程式碼，並由所述至少一個處理器32所執行，從而實現所述各個模組的功能以達到規劃變道路徑的目的。 In a further embodiment, the memory 31 stores computer program code, and the at least one processor 32 can call the program code stored in the memory 31 to execute related functions. For example, each module of the lane change planning system 30 in FIG. 2 is a program code stored in the memory 31 and executed by the at least one processor 32, thereby realizing the functions of each module to achieve the purpose of planning the lane change path.
在本發明的一個實施例中，所述儲存器31儲存一個或多個電腦可讀 指令，所述一個或多個電腦可讀指令被所述至少一個處理器32所執行以實現規劃變道路徑的目的。具體地，所述至少一個處理器32對上述電腦可讀指令的具體實現方法詳見下文中對圖3的描述。 In one embodiment of the present invention, the memory 31 stores one or more computer-readable instructions, and the one or more computer-readable instructions are executed by the at least one processor 32 to achieve the purpose of planning the path change. Specifically, the specific implementation method of the at least one processor 32 for the above-mentioned computer-readable instructions is detailed in the description of Figure 3 below.
圖3是本發明較佳實施例提供的變道規劃方法的流程圖。 Figure 3 is a flow chart of the lane change planning method provided by the preferred embodiment of the present invention.
在本實施例中，所述變道規劃方法可以應用於車載裝置3中，對於需要進行變道規劃的車載裝置3，可以直接在該車載裝置3上集成本發明的方法所提供的用於變道規劃的功能，或者以軟體開發套件(Software Development Kit，SDK)的形式運行在所述車載裝置3上。 In this embodiment, the lane change planning method can be applied to the vehicle-mounted device 3. For the vehicle-mounted device 3 that needs to perform lane change planning, the function for lane change planning provided by the method of the present invention can be directly integrated on the vehicle-mounted device 3, or run on the vehicle-mounted device 3 in the form of a software development kit (SDK).
如圖3所示，所述變道規劃方法具體包括以下步驟，根據不同的需求，該流程圖中步驟的順序可以改變，某些步驟可以省略。 As shown in Figure 3, the lane change planning method specifically includes the following steps. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.
步驟S1、執行模組301基於車輛100當前所在車道及相鄰車道規劃第一變道路徑。
Step S1, the execution module 301 plans the first path change path based on the lane the
本實施例中，所述相鄰車道為所述車輛100當前所在車道的左側相鄰車道或者右側相鄰車道。
In this embodiment, the adjacent lane is the adjacent lane on the left or the adjacent lane on the right of the lane where the
本實施例中，執行模組301可以從高精地圖39獲取所述車輛100當前所在車道、所述車輛100當前所在車道的中心線、相鄰車道，及所述車輛100當前所在車道與所述相鄰車道之間的分界線的資訊例如分界線的樣式等。
In this embodiment, the execution module 301 can obtain information about the lane where the
在一個實施例中，所述執行模組301可以於檢測到指定訊號且確定所述車輛100可以變更車道到所述相鄰車道時，基於所述車輛100當前所在車道及所述相鄰車道規劃所述第一變道路徑。
In one embodiment, the execution module 301 may plan the first lane change path based on the lane currently located by the
在一個實施例中，所述執行模組301可以於車輛100行駛至當前所在車道的中心線且檢測到所述指定訊號且確定所述車輛100可以變更車道到所述相鄰車道時，基於所述車輛100當前所在車道及所述相鄰車道規劃所述第一變道路徑。
In one embodiment, the execution module 301 may plan the first lane change path based on the lane currently occupied by the
在一個實施例中，所述執行模組301確定所述車輛100行駛至當前所在車道的中心線的方法包括：利用所述定位設備36在所述高精地圖39上定
位所述車輛100當前所在車道；從所述高精地圖39確定所述車輛100是否行駛在當前所在車道的中心線上。
In one embodiment, the method for the execution module 301 to determine that the
在一個實施例中，所述指定訊號為所述方向燈37的轉向訊號，所述轉向訊號與所述相鄰車道對應。具體地，所述轉向訊號與所述相鄰車道對應是指當所述轉向訊號為左轉向訊號時，所述相鄰車道是指左側相鄰車道；當所述轉向訊號為右轉向訊號時，所述相鄰車道是指右側相鄰車道。 In one embodiment, the designated signal is a turn signal of the turn signal lamp 37, and the turn signal corresponds to the adjacent lane. Specifically, the turn signal corresponds to the adjacent lane, which means that when the turn signal is a left turn signal, the adjacent lane refers to the left adjacent lane; when the turn signal is a right turn signal, the adjacent lane refers to the right adjacent lane.
在一個實施例中，所述執行模組301可以根據所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式來確定所述車輛100是否可以變更到所述相鄰車道。
In one embodiment, the execution module 301 can determine whether the
具體地，當所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式為白色虛線時，所述執行模組301確定所述車輛100可以變更到所述相鄰車道；當所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式為白色實線時，所述執行模組301確定所述車輛100不可以變更到所述相鄰車道。
Specifically, when the pattern of the dividing line between the lane currently occupied by the
本實施例中，所述執行模組301可以利用所述定位設備36和所述高精地圖39來獲取所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式。
In this embodiment, the execution module 301 can use the positioning device 36 and the high-precision map 39 to obtain the pattern of the boundary line between the lane where the
具體地，所述獲取所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式包括：利用所述定位設備36在預設的高精地圖39上定位所述車輛100當前所在車道；從所述預設的高精地圖39獲得所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式。
Specifically, the method of obtaining the pattern of the boundary line between the lane currently located by the
如前面所述，所述高精地圖39指示了每條道路的每個車道、每個車道的中心線、兩個車道之間的分界線，以及分界線的樣式等。 As mentioned above, the high-precision map 39 indicates each lane of each road, the center line of each lane, the dividing line between two lanes, and the style of the dividing line, etc.
在其他實施例中，獲取所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式包括：利用所述探測設備34拍攝圖像，所述圖像包括所述車輛100當前所在車道與所述相鄰車道之間的分界線；及利用圖像識別演算
法從所述圖像中識別所述車輛100當前所在車道與所述相鄰車道之間的分界線的樣式。
In other embodiments, obtaining the pattern of the boundary line between the lane currently located by the
本實施例中，所述圖像識別演算法可以為範本匹配法。例如，所述執行模組301可以將各種樣式(例如白色實線、黃色實線、白色虛線、黃色虛線)的分界線分別作為範本，將每種範本與所拍攝的圖像進行匹配，當某種樣式的分界線與所拍攝的圖像中的分界線相匹配時，則確定所拍攝的圖像中的分界線的樣式為所述某種樣式。需要說明的是，所述某種樣式為所述各種樣式中的任意一種。 In this embodiment, the image recognition algorithm can be a template matching method. For example, the execution module 301 can use various patterns of boundary lines (such as white solid lines, yellow solid lines, white dashed lines, and yellow dashed lines) as templates, and match each template with the captured image. When a boundary line of a certain pattern matches a boundary line in the captured image, it is determined that the pattern of the boundary line in the captured image is the certain pattern. It should be noted that the certain pattern is any one of the various patterns.
在一個實施例中，所述基於所述車輛100當前所在車道及相鄰車道規劃第一變道路徑包括：基於所述車輛100當前所在車道的中心線以及所述相鄰車道的中心線來規劃所述第一變道路徑。
In one embodiment, the planning of the first path change path based on the lane currently located by the
在一個實施例中，所述第一變道路徑為一包括時間與加速度的函數式，其中，所述時間為所述車輛執行變道的時間，所述加速度為所述車輛執行變道的側向加速度。 In one embodiment, the first lane change path is a function including time and acceleration, wherein the time is the time for the vehicle to change lanes, and the acceleration is the lateral acceleration of the vehicle when changing lanes.
具體地，所述第一變道路徑的函數式為y TAP (t)，其中，
其中，v i =v y,TAP (T i )，y i =y TAP (T i )，i 
例如，參閱圖4所示，當所述車輛100行駛至車道a的位置A1時，
檢測到所述轉向燈37的左轉向訊號，且該位置A1位於車道a的中心線a0上，且車道a與車道b之間的分界線c為白色虛線，那麼所述執行模組301基於所述所述車輛100當前所在車道a的中心線a0的位置A1以及相鄰車道b的中心線b0規劃第一變道路徑T1。其中，y1代表所述車輛100從位置A1行駛t1時長後所需的側向位移；y2代表所述車輛100從位置A1行駛t2時長後所需的側向位移；y3代表所述車輛100從位置A1行駛t3時長後所需的側向位移；y4代表所述車輛100從位置A1行駛t4時長後所需的側向位移；y5代表所述車輛100從位置A1行駛t5時長後所需的側向位移；yd(也即是y6)代表所述車輛100從位置A1行駛t6時長後所需的側向位移，此時到到位置車道b的中心線b0上的位置A1*。
For example, referring to FIG. 4 , when the
需要說明的是，所述執行模組301也可以利用現有的任何其他車道變換輔助系統(Lane Change Control,LCC)來規劃所述第一變道路徑。 It should be noted that the execution module 301 can also use any other existing lane change assistance system (Lane Change Control, LCC) to plan the first lane change path.
步驟S2、所述執行模組301控制所述車輛100基於所述第一變道路徑行駛。當所述車輛100行駛至第一目標位置時，所述偵測模組302偵測第一目標物體，其中，所述第一目標位置由所述第一變道路徑、所述當前所在車道與所述相鄰車道之間的分界線確定。
Step S2, the execution module 301 controls the
在一個實施例中，當偵測到所述第一目標物體不在預設距離(例如10米或其他距離值)之內時，執行步驟S3。當偵測到所述第一目標物體在所述預設距離之內時，執行步驟S4。 In one embodiment, when the first target object is detected to be not within a preset distance (e.g., 10 meters or other distance values), step S3 is executed. When the first target object is detected to be within the preset distance, step S4 is executed.
在一個實施例中，所述第一目標位置為目標範圍之內的任意位置，該目標範圍是指以所述第一變道路徑與所述分界線的交點為圓心，半徑為預設值d(例如0.5米、1米，或者其他值)的圓所在範圍。例如，參閱圖5所示。 In one embodiment, the first target position is any position within the target range, which refers to the range of a circle with the intersection of the first path change path and the dividing line as the center and a radius of a preset value d (e.g., 0.5 meters, 1 meter, or other values). For example, see Figure 5.
在一個實施例中，當所述車輛100的座標進入到所述目標範圍之內時，所述偵測模組302即可認定所述車輛100行駛至所述第一目標位置。
In one embodiment, when the coordinates of the
在一個實施例中，所述第一目標物體為行駛在所述相鄰車道，且位於所述車輛100的後方或側方的其他車輛。具體地，所述偵測模組302可以利
用所述探測設備34來偵測行駛在所述相鄰車道，且位於所述車輛100的後方或側方的其他車輛。所述偵測模組302還偵測該其他車輛與所述車輛100之間的距離是否小於所述預設距離。
In one embodiment, the first target object is another vehicle driving in the adjacent lane and located behind or to the side of the
步驟S3、當偵測到所述第一目標物體不在所述預設距離之內時，執行模組301控制所述車輛100基於所述第一變道路徑繼續行駛。
Step S3: When it is detected that the first target object is not within the preset distance, the execution module 301 controls the
步驟S4、當偵測到所述第一目標物體在所述預設距離之內時，執行模組301控制所述車輛100沿所述車輛100當前所在車道行駛至第二目標位置，即不再控制所述車輛100基於所述第一變道路徑行駛。執行完步驟S4後執行步驟S5。
Step S4: When the first target object is detected within the preset distance, the execution module 301 controls the
在一個實施例中，所述第二目標位置為所述車輛100沿所述車輛100當前所在車道行駛預設時長(例如1秒、5秒、10秒，或其他時長)所到達的位置。
In one embodiment, the second target position is the position reached by the
例如，參閱圖6所示，假設所述車輛100行駛至第一目標位置A2時，所述偵測模組302偵測到第一目標物體200距離所述車輛100在所述預設距離之內，所述執行模組301則控制所述車輛100沿所述車輛100當前所在車道a行駛所述預設時長例如10秒到達第二目標位置A2*。
For example, referring to FIG. 6 , assuming that when the
步驟S5、於所述車輛100行駛至所述第二目標位置時，所述偵測模組302再次偵測所述第一目標物體。所述偵測模組302偵測所述第一目標物體是否在所述預設距離之內。當偵測到所述第一目標物體不在所述預設距離之內時，執行步驟S51。當偵測到所述第一目標物體在所述預設距離之內時，執行步驟S52。
Step S5: When the
同樣地，所述偵測模組302可以利用所述探測設備34來偵測所述第一目標物體。 Similarly, the detection module 302 can use the detection device 34 to detect the first target object.
步驟S51、當偵測到所述第一目標物體不在所述預設距離之內時，所述執行模組301基於所述車輛100當前所在車道以及所述相鄰車道規劃第二變道路徑，並控制所述車輛100基於所述第二變道路徑行駛。
Step S51: When it is detected that the first target object is not within the preset distance, the execution module 301 plans a second path change path based on the lane where the
需要說明的是，所述執行模組301基於所述車輛100當前所在車道以及所述相鄰車道規劃第二變道路徑的方法同於上述規劃所述第一變道路徑的方法，於此不再贅述。例如，所述執行模組301基於所述車輛100當前所在車道以及所述相鄰車道規劃第二變道路徑T2。
It should be noted that the method for the execution module 301 to plan the second path change path based on the lane currently located by the
步驟S52、當偵測到所述第一目標物體在所述預設距離之內時，所述偵測模組302偵測第二目標物體。當偵測到所述第二目標物體不在所述預設距離之內時，執行步驟S53。當偵測到所述第二目標物體在所述預設距離之內時，繼續執行步驟S52。 Step S52: When the first target object is detected within the preset distance, the detection module 302 detects the second target object. When the second target object is detected not within the preset distance, step S53 is executed. When the second target object is detected within the preset distance, step S52 is continued.
在一個實施例中，所述第二目標物體為行駛在所述車輛100當前所在車道，且位於所述車輛100的後方的其他車輛。
In one embodiment, the second target object is another vehicle that is traveling in the lane where the
同樣地，所述偵測模組302可以利用所述探測設備34來偵測所述第二目標物體。 Similarly, the detection module 302 can use the detection device 34 to detect the second target object.
步驟S53、當偵測到所述第二目標物體不在所述預設距離之內時，所述執行模組301基於所述第二目標位置以及所述車輛100當前所在車道的中心線規劃第三變道路徑，並控制所述車輛100基於所述第三變道路徑行駛，使得所述車輛100可以返回至所述車輛100當前所在車道的中心線。
Step S53: When it is detected that the second target object is not within the preset distance, the execution module 301 plans a third path change path based on the second target position and the center line of the lane where the
在一個實施例中，所述執行模組301可以利用車道居中控制系統(lane centering control，LCC)來規劃所述第三變道路徑。 In one embodiment, the execution module 301 can use a lane centering control system (Lane Centering Control, LCC) to plan the third path change path.
例如，參閱圖6所示，所述執行模組301基於所述第二目標位置A2*以及所述車輛100當前所在車道的中心線a0規劃第三變道路徑T3，控制所述車輛100基於所述第三變道路徑行駛，使得所述車輛100可以返回至所述車輛100當前所在車道的中心線a0。
For example, referring to FIG6 , the execution module 301 plans the third path change path T3 based on the second target position A2* and the center line a0 of the lane where the
在本發明所提供的幾個實施例中，應該理解到，所揭露的裝置和方法，可以透過其它的方式實現。例如，以上所描述的裝置實施例僅僅是示意性的，例如，所述模組的劃分，僅僅為一種邏輯功能劃分，實際實現時可以有另外的劃分方式。 In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.
所述作為分離部件說明的模組可以是或者也可以不是物理上分開的，作為模組顯示的部件可以是或者也可以不是物理單元，即可以位於一個地方，或者也可以分佈到多個網路單元上。可以根據實際的需要選擇其中的部分或者全部模組來實現本實施例方案的目的。 The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of this embodiment.
另外，在本發明各個實施例中的各功能模組可以集成在一個處理單元中，也可以是各個單元單獨物理存在，也可以兩個或兩個以上單元集成在一個單元中。上述集成的單元既可以採用硬體的形式實現，也可以採用硬體加軟體功能模組的形式實現。 In addition, each functional module in each embodiment of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.
對於本領域技術人員而言，顯然本發明不限於上述示範性實施例的細節，而且在不背離本發明的精神或基本特徵的情況下，能夠以其他的具體形式實現本發明。因此，無論從哪一點來看，均應將實施例看作是示範性的，而且是非限制性的，本發明的範圍由所附請求項而不是上述說明限定，因此旨在將落在請求項的等同要件的含義和範圍內的所有變化涵括在本發明內。不應將請求項中的任何附圖標記視為限制所涉及的請求項。此外，顯然“包括”一詞不排除其他單元或，單數不排除複數。裝置請求項中陳述的多個單元或裝置也可以由一個單元或裝置透過軟體或者硬體來實現。第一，第二等詞語用來表示名稱，而並不表示任何特定的順序。 It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure markings in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "including" does not exclude other units or, and the singular does not exclude the plural. Multiple units or devices stated in the device claim may also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names, not to indicate any particular order.
最後所應說明的是，以上實施例僅用以說明本發明的技術方案而非限制，儘管參照以上較佳實施例對本發明進行了詳細說明，本領域的普通技術人員應當理解，可以對本發明的技術方案進行修改或等同替換，而不脫離本發明技術方案的精神和範圍。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention is described in detail with reference to the above preferred embodiments, ordinary technicians in this field should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.
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