阅读说明：本技术 车道变换及道路隔离方法、装置、设备及存储介质 (Lane changing and road isolating method, device, equipment and storage medium ) 是由 吴栋磊 于 2018-07-18 设计创作，主要内容包括：本公开提出了一种车道变换及道路隔离方法、装置、设备及存储介质。对道路中各车道流量进行统计,以得到每个车道的现有车道流量；对所述道路中各车道流量变化情况进行预估,以得到每个车道的预估变化流量；以及基于所述道路中各车道的现有车道流量及预估变化流量,确定变道策略,其中,所述变道策略包括变道车道的位置信息和用于辅助变道的引导信息。由此,本公开基于实时车流数据进行分析,可以得到能够满足当前需求的变道策略,从而可以达到实时调控的目的。(The invention provides lane changing and road isolating methods, devices, equipment and storage media, wherein the method comprises the steps of counting the traffic of each lane in a road to obtain the current traffic of each lane, predicting the traffic change condition of each lane in the road to obtain the predicted change traffic of each lane, and determining a lane changing strategy based on the current traffic of each lane in the road and the predicted change traffic, wherein the lane changing strategy comprises position information of lane changing and guide information for assisting lane changing.)

1, lane change method, comprising:

counting the traffic of each lane in the road to obtain the current traffic of each lane;

predicting the traffic change condition of each lane in the road to obtain the predicted change traffic of each lane; and

and determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises position information of lane change lanes and guide information for assisting lane change.

2. The lane change method according to claim 1, wherein the step of counting traffic of each lane in the road comprises:

analyzing the lane information of the vehicle; and

and determining the existing lane flow of each lane based on the lane information to which the vehicle belongs.

3. The lane change method according to claim 1, further comprising:

acquiring vehicle information of vehicles in a road; and/or

And acquiring roadside information of the road, wherein the roadside information comprises road information and/or road image information obtained by shooting.

4. The lane change method according to claim 3,

the step of counting the flow of each lane in the road comprises the following steps: counting the flow of each lane in the road based on the vehicle information and/or the roadside information, and/or

The step of predicting the traffic change condition of each lane in the road comprises the following steps: and predicting the traffic change condition of each lane in the road based on the vehicle information and/or the roadside information.

5. The method of claim 1, wherein the step of predicting the traffic change of each lane in the road comprises:

counting lane speeds of all lanes in the road;

respectively counting the inlet section flow and the outlet section flow of each lane; and

and obtaining the estimated change flow of each lane based on the lane speed, the inlet section flow, the outlet section flow and the traffic light duration information.

6. The method of claim 5, wherein the step of predicting the traffic change of each lane in the road further comprises:

determining lane change information of the vehicle according to the navigation direction of the vehicle in the road;

obtaining the entrance flow and the exit flow of each lane based on the lane change information; and

and adjusting the estimated change flow based on the entrance flow and the exit flow.

7. The lane change method of claim 1, wherein the step of determining a lane change strategy comprises:

counting the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in the road;

and determining a lane change strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in two different vehicle driving directions.

8. The lane change method according to claim 7,

and generating a lane change strategy when the difference of the average existing lane flow and/or the average estimated lane flow of the lanes in the two different driving directions of the vehicle is larger than a preset threshold value.

9. The lane change method of claim 1, wherein the guidance information comprises one or more of:

lane change preparation time;

an effective duration;

guiding the vehicle speed;

corresponding to the duration of the traffic light; and

and updating information of the road identification.

10. The lane change method according to claim 1, further comprising:

obtaining lane change decisions of a plurality of roads in a preset area;

adjusting each of the lane change decisions with a goal of improving the overall traffic environment within the predetermined area.

11. The method of lane changing according to claim 10, wherein the step of adjusting each of the lane change decisions comprises:

performing integrated simulation calculation on the lane change decisions of the roads to calculate the overall flow and the vehicle speed change condition in the preset area;

adjusting each lane change decision based on the calculation result.

12. The lane change method according to claim 1, further comprising:

determining vehicles needing lane changing in the road; and

and sending the guiding information to the vehicle needing lane change.

13. The lane change method according to claim 1, further comprising:

and modifying the road side information of the road based on the lane change strategy, wherein the road side information comprises items or more of road information, road identification and traffic light switching time length.

14. The lane change method according to claim 1, further comprising:

and sending a prompt to the vehicle, or correcting the driving direction of the vehicle, or controlling the vehicle to stop when the vehicle is detected not to drive according to the lane change strategy.

15. The lane change method according to claim 1,

the road is a road with a variable vehicle driving direction of a lane.

16, A road isolation method, comprising:

generating a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy comprises position information of the predetermined lane range and guide information for assisting lane change; and

and sending the guiding information to the vehicle positioned in the preset lane range so as to guide the vehicle to move away from the preset lane range.

17. The road isolation method according to claim 16, further comprising modifying roadside information of the road based on the lane change strategy, wherein the roadside information comprises or more of road information, road identification and traffic light switching duration.

18.. lane changing device, comprising:

the statistical module is used for carrying out statistics on the traffic of each lane in the road to obtain the current traffic of each lane;

pre-estimating module for pre-estimating the traffic variation of each lane in the road to obtain the pre-estimated variation traffic of each lane, and

and the strategy determining module is used for determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises the position information of the lane change lane and the guide information for assisting lane change.

A road isolation device of the type 19, , comprising:

the system comprises a strategy generation module, a lane change strategy generation module and a lane change assisting module, wherein the strategy generation module is used for responding to an isolation instruction aiming at a preset lane range in a road and generating the lane change strategy, and the lane change strategy comprises position information of the preset lane range and guide information for assisting lane change; and

and the sending module is used for sending the guiding information to the vehicle positioned in the preset lane range so as to guide the vehicle to drive away from the preset lane range.

20, a computing device, comprising:

a processor; and

a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-17.

21, non-transitory machine-readable storage medium having stored thereon executable code that, when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-17, .

Technical Field

The present disclosure relates to the field of transportation, and in particular, to lane changing and road isolating methods, apparatuses, devices, and storage media.

Background

In recent years, with the improvement of the living standard of people, automobiles become main transportation means of people, and the accompanying thing is the great increase of the traffic flow of urban automobiles.

However, the conventional lane change needs to be set manually, and generally performs lane change at a fixed time (for example, morning and evening), and the conventional lane change cannot meet the real-time adjustment requirement due to the real-time and sudden characteristics of traffic flow.

Disclosure of Invention

aims at providing lane change schemes capable of meeting real-time adjustment requirements.

According to , the lane changing method comprises the steps of counting the flow of each lane in a road to obtain the existing lane flow of each lane, predicting the change situation of the flow of each lane in the road to obtain the predicted change flow of each lane, and determining a lane changing strategy based on the existing lane flow and the predicted change flow of each lane in the road, wherein the lane changing strategy comprises position information of lane changing and guiding information for assisting lane changing.

Optionally, the step of counting the traffic of each lane in the road includes: analyzing the lane information of the vehicle; and determining the existing lane flow of each lane based on the lane information to which the vehicle belongs.

Optionally, the lane change method further comprises: acquiring vehicle information of vehicles in a road; and/or acquiring roadside information of the road, wherein the roadside information comprises road information and/or photographed road image information.

Optionally, the step of counting the traffic of each lane in the road includes: the method comprises the following steps of counting the flow of each lane in the road based on vehicle information and/or roadside information, and/or predicting the change condition of the flow of each lane in the road, wherein the steps comprise: and predicting the flow change condition of each lane in the road based on the vehicle information and/or the roadside information.

Optionally, the step of predicting the traffic change condition of each lane in the road includes: counting lane speeds of all lanes in a road; respectively counting the inlet section flow and the outlet section flow of each lane; and obtaining the estimated change flow of each lane based on the lane speed, the inlet section flow, the outlet section flow and the traffic light duration information.

Optionally, the step of predicting the traffic change condition of each lane in the road further includes: determining lane change information of the vehicle according to the navigation direction of the vehicle in the road; obtaining the entrance flow and the exit flow of each lane based on the lane change information; and adjusting the estimated change flow rate based on the entrance flow rate and the exit flow rate.

Optionally, the step of determining a lane change strategy comprises: carrying out statistics on the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in a road; and determining a lane change strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in two different vehicle driving directions.

Optionally, the lane change strategy is generated in case the difference of the average existing lane flow and/or the average predicted lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold.

Optionally, the guidance information includes one or more of a lane change preparation time, an effective time period, a guidance vehicle speed, a corresponding traffic light time period, and road sign update information.

Optionally, the lane change method further comprises: obtaining lane change decisions of a plurality of roads in a preset area; each lane change decision is adjusted with the goal of improving the overall traffic environment within the predetermined area.

Optionally, the step of adjusting each lane change decision comprises: performing integrated simulation calculation on the lane change decisions of a plurality of roads to calculate the overall flow and the vehicle speed change condition in a preset area; each lane change decision is adjusted based on the calculation.

Optionally, the lane change method further comprises: determining vehicles needing lane changing in a road; and sending the guiding information to the vehicles needing to change lanes.

Optionally, the lane changing method further comprises the step of changing roadside information of the road based on the lane changing strategy, wherein the roadside information comprises items or more of road information, road identification and traffic light switching time length.

Optionally, the lane change method further comprises: and under the condition that the vehicle is detected not to run according to the lane change strategy, sending a prompt to the vehicle, or correcting the running direction of the vehicle, or controlling to stop the vehicle.

Alternatively, the road is a lane road on which the direction of travel of the vehicle is variable, such as a tidal road.

According to the second aspect of the disclosure, road isolation methods are also provided, including generating a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy includes position information of the predetermined lane range and guidance information for assisting lane change, and transmitting the guidance information to a vehicle located within the predetermined lane range to guide the vehicle to leave the predetermined lane range.

Optionally, the road isolation method further comprises the step of changing road side information of the road based on the lane changing strategy, wherein the road side information comprises items or more items in the road information, the road identification and the traffic light switching time length.

According to the third aspect of the disclosure, lane changing devices are further provided, which include a statistic module for counting traffic of each lane in a road to obtain an existing traffic of each lane, a prediction module for predicting traffic variation of each lane in the road to obtain a predicted traffic variation of each lane, and a strategy determination module for determining a lane changing strategy based on the existing traffic of each lane and the predicted traffic variation of each lane in the road, wherein the lane changing strategy includes position information of the lane changing lane and guiding information for assisting lane changing.

Optionally, the th statistic module includes a lane analysis module for analyzing lane information to which the vehicle belongs, and a lane flow determination module for determining an existing lane flow for each lane based on the lane information to which the vehicle belongs.

Optionally, the lane changing device further comprises an th information acquisition module for acquiring vehicle information of vehicles in the road, and/or a second information acquisition module for acquiring roadside information of the road, wherein the roadside information comprises road information and/or photographed road image information.

Optionally, the th statistic module is used for carrying out statistics on the flow of each lane in the road based on the vehicle information and/or the roadside information, and/or the th prediction module is used for predicting the change situation of the flow of each lane in the road based on the vehicle information and/or the roadside information.

Optionally, the pre-estimation module includes a third statistical module for counting lane speeds of lanes in a road, a fourth statistical module for counting entrance section flows and exit section flows of the lanes, and a traffic flow pre-estimation module for obtaining pre-estimated traffic flow of each lane based on the lane speeds, the entrance section flows, the exit section flows and traffic light duration information.

Optionally, the forecast module further includes a lane change information determining module for determining lane change information of the vehicle according to a navigation direction of the vehicle on the road, a traffic determining module for obtaining an entrance traffic and an exit traffic of each lane based on the lane change information, and a adjusting module for adjusting the forecast change traffic based on the entrance traffic and the exit traffic.

Optionally, the policy determination module includes: the fifth statistical module is used for carrying out statistics on the average existing lane flow and the average estimated lane flow of lanes in two different vehicle driving directions in the road; and the strategy determining submodule is used for determining a lane changing strategy according to the difference between the average existing lane flow and the average estimated lane flow of the lanes in the two different vehicle driving directions.

Optionally, the policy determination sub-module generates the lane change policy in case a difference of an average existing lane flow and/or an average predicted lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold.

Optionally, the guidance information includes one or more of a lane change preparation time, an effective time period, a guidance vehicle speed, a corresponding traffic light time period, and road sign update information.

Optionally, the lane change device further comprises: the strategy acquisition module is used for acquiring lane change decisions of a plurality of roads in a preset area; and a second adjustment module for adjusting each lane change decision with the goal of improving the overall traffic environment within the predetermined area.

Optionally, the second adjusting module comprises: the operation module is used for carrying out integrated simulation calculation on the lane change decisions of a plurality of roads so as to calculate the overall flow and the vehicle speed change condition in a preset area; and a second adjusting submodule for adjusting each lane change decision based on the calculation result.

Optionally, the lane change device further comprises: the vehicle determining module is used for determining vehicles needing lane changing in a road; and the sending module is used for sending the guiding information to the vehicle needing lane changing.

Optionally, the lane changing device further comprises an information changing module for changing roadside information of the road based on the lane changing strategy, wherein the roadside information comprises items or more of the road information, the road identification and the traffic light switching time length.

Optionally, the lane change device further comprises: and the control module is used for sending a prompt to the vehicle, or correcting the driving direction of the vehicle, or controlling the vehicle to stop under the condition that the vehicle is detected not to drive according to the lane change strategy.

Alternatively, the road is a road on which the vehicle traveling direction of the lane is changeable.

According to a fourth aspect of the present disclosure, there are also provided road isolation devices, including a strategy generation module for generating a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy includes position information of the predetermined lane range and guidance information for assisting lane change, and a transmission module for transmitting the guidance information to a vehicle located within the predetermined lane range to guide the vehicle to leave the predetermined lane range.

Optionally, the road isolation device further comprises a changing module for changing road side information of the road based on the lane changing strategy, wherein the road side information comprises items or more items in the road information, the road identification and the traffic light switching duration.

According to a fifth aspect of the present disclosure there is also provided computing devices comprising a processor and a memory having stored thereon executable code which, when executed by the processor, causes the processor to perform a method as set forth in the or second aspect of the present disclosure.

According to a sixth aspect of the present disclosure, there is also provided non-transitory machine-readable storage media having executable code stored thereon, which when executed by a processor of an electronic device, causes the processor to perform a method as set forth in the or second aspect of the present disclosure.

The public system can obtain real-time dynamic traffic flow data at lane levels by counting the current traffic flow of each lane in the road and estimating the traffic flow change condition of the lanes, so that a lane change strategy capable of meeting the current requirement can be obtained by analyzing based on the real-time traffic flow data, and the purpose of real-time regulation and control can be achieved.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in greater detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.

Fig. 1 is a schematic flow chart diagram illustrating a lane change method according to an embodiment of the present disclosure .

Fig. 2 is a schematic diagram showing an inlet section and an outlet section of a lane.

Fig. 3 is a schematic flow chart diagram illustrating a road isolation method in accordance with an embodiment of the present disclosure .

Fig. 4 is an implementation flow diagram illustrating a lane change method according to an embodiment of the present disclosure .

Fig. 5 is a schematic block diagram illustrating a structure of a lane change apparatus according to an embodiment of the present disclosure.

Fig. 6 is a schematic structural diagram showing functional modules that the th statistic module may have.

Fig. 7 is a schematic structural diagram showing functional modules that the th predictive module may have.

Fig. 8 is a schematic structural diagram showing functional modules that the policy determination module may have.

Fig. 9 is a schematic block diagram illustrating the structure of a road isolation device according to an embodiment of the present disclosure .

Fig. 10 is a block diagram illustrating a computing device that may be used to implement the data processing of the above-described method according to an embodiment of the present disclosure .

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[ term interpretation ]

V2X, namely Vehicle to evolution, is a generic name of series Vehicle-mounted communication technologies, , and V2X mainly includes six major categories of Vehicle-to-Vehicle (V2V), Vehicle-to-roadside (V2R), Vehicle-to-infrastructure (V2I), Vehicle-to-pedestrian (V2P), Vehicle-to-locomotive (V2M), and Vehicle-to-bus (V2T)

OBU is installed On vehicle and can be regarded as microwave devices which adopt DSRC (dedicated Short Range communication) technology to communicate with RSU.

RSU: the abbreviation of Road Side Unit is interpreted as the meaning of roadside Unit, installed in roadside, and communicates with OBU by DSRC (dedicated Short Range communication) technology.

[ Lane changing method ]

Fig. 1 is a schematic flow chart diagram illustrating a lane change method according to an embodiment of the present disclosure .

Referring to fig. 1, in step S110, the traffic of each lane in the road is counted to obtain the existing traffic of each lane.

The road mentioned here preferably means a road comprising at least two lanes in different directions of travel of the vehicle, i.e. a bidirectional lane consisting of two opposite direction traffic lanes, such as a bidirectional four-lane, a bidirectional six-lane, a bidirectional eight-lane, etc. A road referred to in this disclosure may refer to a road in which the direction of travel of vehicles in the lane of the road is variable, such as a tidal lane (i.e., a variable lane).

The lane information to which the vehicle in the road belongs may be analyzed, and the existing lane traffic of each lane may be determined based on the lane information to which the vehicle belongs. The lane information to which the vehicle belongs can be analyzed in various ways. For example, the lane information of the vehicle may be calculated according to data of the vehicle such as GPS, inertial guidance, map and road information, driving records, etc., the lane information of the vehicle may also be obtained by image recognition, the lane information of the vehicle may also be obtained by scanning with a radar (such as a laser radar or a millimeter wave radar), and the lane information of the vehicle may also be obtained in various other ways, which is not described herein again.

The lane information of the vehicle can be determined by the vehicle itself or by a server. In the case of determination by the vehicle itself, the lane information to which the vehicle belongs may be directly acquired, and the existing traffic of each lane may be determined by counting the lane information of all vehicles in the road. In the case of determination by the server, vehicle information such as position navigation information and driving records of the vehicle may be acquired, lane information where the vehicle is located may be calculated based on the acquired vehicle data in combination with map and road information, or the lane information where the vehicle is located may be obtained by using image recognition, scanning by radar (such as laser radar and millimeter wave radar), and the like without acquiring the vehicle data.

As an example, the vehicle can send the information of the vehicle body (such as size, speed, acceleration and the like), position navigation, driving records, belonging lanes and the like to the road-side RSU through the vehicle OBU through V2X, the road-side RSU can output the collected vehicle information to the server end by combining with the road information of the vehicle and the graphic information collected by the camera, wherein the belonging lanes are optional and can be calculated locally through data such as GPS, inertial guidance, maps, road information, driving records and the like on the vehicle, or can be analyzed by the server end according to image recognition or radar scanning and the like.

In step S120, the traffic variation of each lane in the road is estimated to obtain the estimated variation traffic of each lane.

The estimation of the flow rate change of each lane may be performed, for example, by estimating the flow rate change of each lane within a predetermined time (e.g., traffic light periods).

As an example, the lane speed of each lane in the road may be counted, and the inlet section flow rate and the outlet section flow rate of each lane may be counted, respectively. Based on the lane speed, the inlet section flow, the outlet section flow and the traffic light time length information, the estimated change flow of each lane can be obtained. For example, the inlet and outlet section flows may refer to flows within a unit cross section along the direction of vehicle travel, and the predicted change flow may be equal to (inlet section flow-outlet section flow) × lane speed × traffic light duration. Wherein, the estimated change flow is positive, indicating that the inflow is greater than the outflow, and the estimated change flow is positive, indicating that the outflow is greater than the inflow.

When the lane speed is calculated in a statistical manner, the average speed in the lane may be used as the lane speed, the average speed may also be adjusted according to the weight of the head and the tail of the lane to obtain the lane speed, the lane speed may also be calculated in a weighted summation manner according to the speeds of different road sections of the lane (such as the head section of the lane, the middle section of the lane, and the tail section of the lane), and the lane speed may also be calculated in other statistical manners, which is not described herein again.

Optionally, after obtaining the lane speed, the real passing speed (which may represent the real passing distance in unit time) may be calculated by combining the traffic light time information (which may be ignored if the lane speed is an expressway) of the road and by multiplying the lane speed by the passing time (such as the green light time)/the total time (such as the traffic light cycle time). The real same-travel speed obtained by calculation can replace the lane speed and participate in the calculation of the subsequent estimated change flow.

As shown in FIG. 2, for a lane A in a road 1, the side of the lane A driving into the driving direction of the vehicle is an entrance section, and the side of the lane A driving out of the driving direction of the vehicle is an exit section.

For example, the traffic flow of each lane can be obtained based on the lane change information, wherein the traffic flow refers to the traffic flow entering the lane from other lanes, and the traffic flow refers to the traffic flow entering the lane from the lane.

In step S130, a lane change strategy is determined based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy includes position information of the lane change lane and guidance information for assisting the lane change.

The average estimated lane flow may be an average of estimated lane flows of all lanes in the same vehicle driving direction, or an average obtained by a weighted summation, where the weight coefficient may be adjusted according to lanes, where the estimated lane flow is an estimated result of the next lane flow obtained based on the existing lane flow and the estimated change flow, such as an estimated result of the lane flow in the next traffic light periods.

According to the difference between the average existing lane flow and the average estimated lane flow of the lanes in two different vehicle driving directions, a lane changing strategy can be determined. For example, a lane-change strategy may be generated in case the difference in the average existing lane flow of the lanes in two different vehicle driving directions is larger than a predetermined threshold; the lane change strategy can also be generated under the condition that the difference of the average estimated lane flow of the lanes in the two different vehicle driving directions is greater than a preset threshold value; the lane change strategy can also be generated under the condition that the difference of the average existing lane flow and the difference of the average estimated lane flow of the lanes in the two different vehicle driving directions are both larger than a preset threshold value.

The method comprises the steps of setting lane changing preparation time, effective duration, guiding vehicle speed, corresponding traffic light duration and road sign updating information, wherein the lane changing preparation time can be obtained by adjusting lane speed, traffic light period and experience value, the effective duration can be actual limit duration for the vehicle to actually complete lane changing, the guiding vehicle speed can be driving speed required by the vehicle for realizing lane changing, and the effective duration and the guiding vehicle speed can be calculated according to estimated flow and traffic light period.

According to the lane changing method and device, the existing lane flow of each lane in the road is counted, the traffic flow change condition of the lanes is estimated, real-time dynamic lane-level traffic flow data can be obtained, analysis is carried out based on the real-time traffic flow data, a lane changing strategy capable of meeting the current requirements can be obtained, the existing road resources can be fully utilized, and the purpose of real-time regulation and control is achieved.

The vehicle information can comprise body information (such as size, speed, acceleration and the like), position navigation, driving records (such as driving speed and driving path), belonging lanes (optional) and other information, the road side information can comprise road information and/or photographed road image information, the vehicle information can be obtained from the vehicle, and the road side information can be obtained from a road side RSU.

For example, the lane change strategies of a plurality of roads can be integrated and simulated to calculate the overall flow and vehicle speed change conditions in the predetermined area ( -determined weighting can be performed, for example, more weights can be given to a main road and a special road), and each lane change strategy can be adjusted based on the calculation result.

After determining the lane change strategy, vehicles in the road that need to be changed may be notified to prompt the vehicles to execute according to the corresponding lane change strategy. For example, a vehicle in the road that needs to be lane-changed may be determined first, and then guidance information in the lane-changing decision may be sent to the vehicle that needs to be lane-changed, such as information about lane-changing preparation time, effective duration, guidance vehicle speed, and the like may be notified to the vehicle, so that the driver can complete the lane-changing operation according to the information. And when the situation that the vehicle does not run according to the lane change strategy is detected, a prompt can be sent to the vehicle, or the running direction of the vehicle can be corrected, or the vehicle can be directly controlled to stop when the situation is serious.

In addition, after the lane change strategy is determined, road side information of the road can be changed based on the lane change strategy, wherein the road side information can comprise items or more of road information, road identification and traffic light switching time length.

The present disclosure can be realized as lane change schemes based on V2X and capable of being dynamically updated in real time, which can be used not only for tidal roads but also for automatic adjustment of urban roads, and can achieve low-cost, fast and globally optimized adjustment of traffic lane change based on the present disclosure.

[ ROAD ISOLATION METHOD ]

The present disclosure can also be implemented as an road isolation scheme, which can quickly arrange electronic isolation zones (electronic isolation strips) to ensure safety.

Fig. 3 is a schematic flow chart diagram illustrating a road isolation method according to an embodiment of the present disclosure , where the method may be performed by a server, such as a cloud or a program deployed on a road-side RSU.

Referring to fig. 3, in step S310, a lane-change strategy is generated in response to an isolation instruction for a predetermined lane range in a road.

The isolation instruction for isolating the accident range can be generated under the condition that the road has an emergency (such as a traffic accident), and the isolation instruction for the preset lane range can also be generated in other scenes needing isolation.

The method comprises the steps of generating a lane change strategy based on an isolation instruction, wherein the lane change strategy comprises position information of a preset lane range and guide information for assisting lane change, wherein the guide information can comprise but is not limited to lane change preparation time, effective duration, guide vehicle speed, duration of corresponding traffic lights and road sign updating information, the lane change preparation time can be obtained by adjusting lane speed, the period of the traffic lights and an empirical value, the effective duration can be the actual limit duration for the vehicle to actually complete lane change, the guide vehicle speed can be the driving speed required by the vehicle for realizing lane change, and the effective duration and the guide vehicle speed can be calculated according to estimated flow and the period of the traffic lights.

In addition, road side information of the road can be changed based on a lane change strategy, wherein the road side information can comprise items of road information, road identification and traffic light switching time length.

[ application example ]

Fig. 4 is a flow chart showing an implementation of a lane changing method according to an embodiment of the present disclosure, wherein a lane changing program may be regarded as a program capable of executing the lane changing method of the present disclosure.

Referring to fig. 4, a vehicle can send vehicle information such as vehicle body information (e.g., size, speed, acceleration, etc.), position navigation, driving records, and a lane to which the vehicle belongs to the vehicle through an OBU via V2X, the roadside RSU can output the collected vehicle information to a lane change program in combination with the road information and graphic information collected by a camera , wherein the lane to which the vehicle belongs is optional, can be calculated locally through GPS, inertial guidance, a map, road information, driving records, and other data, or can be obtained through image or radar recognition and scanning, or can be obtained through other methods.

As shown in FIG. 4, the RSU can take the corresponding final lane change decision through a transmission mode of V2X, and change the information (if needed) provided by the RSU, including road information, road marks, traffic light switching time and the like, and the RSU can also broadcast partial information required by the vehicle in the final lane change decision through V2X , including the position, the range and the direction of the lane, the position information of the lane change, lane change preparation time, the range, the effective time, the guiding vehicle speed, the corresponding traffic light time and the like.

After determining the lane information, whether the lane information belongs to a lane change range can be calculated again, and if the lane information belongs to the lane change range, the lane change information can prompt a user to complete lane change work or automatically change lanes in aspects of ADAS (Advanced Driver assistance Systems) and the like within lane change preparation time according to a lane change strategy.

In lane change preparation time, all vehicles needing lane change finish lane change and confirm in two ways: either an acknowledgement is complete or an alarm is not complete. If the vehicle is not confirmed, the lane change is postponed, the vehicle state is confirmed, and if the vehicle is not abnormal, all the processes are reported and carried out again. If the vehicle is abnormal, reporting the abnormal state, and carrying out all the processes again except the lane change range of the vehicle lane.

The method can be used for driving according to the guide speed after all vehicles finish changing lanes and based on new road specifications, real-time monitoring can be carried out in the whole driving process, , when the vehicles are found to possibly deviate from the direction and the range specified by the lane, in-vehicle reminding is carried out, and if the vehicles are coming out, emergency measures can be taken, including direction correction or parking control.

In summary, the method can accurately and comprehensively acquire information such as traffic flow and vehicle speed of the lane at low cost in real time based on the V2X, and calculate and implement the global optimal lane change solution according to sufficient information acquired by the V2X. And the method can be applied to schemes such as setting up a no-parking area or a no-driving/limited area, and the area range is updated by the server, so that the V2X vehicle is monitored.

[ Lane changer ]

FIG. 5 is a schematic block diagram illustrating the structure of a lane changing device in accordance with an embodiment of the present disclosure , wherein the functional modules of the lane changing device may be implemented by hardware, software, or a combination of hardware and software implementing the principles of the present invention.

In the following, a brief description is given of functional modules that the lane changing device may have and operations that each functional module may perform, and for details related thereto, reference may be made to the above description of the road isolation method, which is not repeated herein.

Referring to fig. 5, the lane change apparatus 500 includes an th statistic module 510, a th predictor module 520, and a strategy determination module 530.

The strategy determination module 530 is used for determining a lane change strategy based on the existing lane flow and the estimated change flow of each lane in the road, wherein the lane change strategy comprises position information of a lane change and guiding information for assisting lane change, the guiding information can comprise items or more of lane change preparation time, effective time, guiding vehicle speed, corresponding traffic light time and road sign updating information, and the road disclosed by the invention can be a road with a variable vehicle driving direction of the lane, such as a tide road.

As examples of the present disclosure, as shown in FIG. 6, the statistical module 510 may include a lane analysis module 511 and a lane traffic determination module 512. the lane analysis module 511 may be used to analyze lane information to which the vehicle belongs.

As shown in fig. 5, the lane changing device 500 may optionally include an th information obtaining module 540 and/or a second information obtaining module 545 shown by a dashed line in the figure, the th information obtaining module 540 is configured to obtain vehicle information of a vehicle in a road, and the second information obtaining module 545 is configured to obtain roadside information of the road, where the roadside information includes road information and/or captured road image information, the th statistical module 510 may perform statistics on traffic of each lane in the road based on the vehicle information and/or the roadside information, and/or the th prediction module 520 may predict a traffic change condition of each lane in the road based on the vehicle information and/or the roadside information.

As examples of the present disclosure, as shown in fig. 7, the prediction module 520 may include a third statistical module 521, a fourth statistical module 522, and a traffic variation prediction module 523, where the third statistical module 521 is configured to perform statistics on lane speeds of lanes in the road, the fourth statistical module 522 is configured to perform statistics on traffic of an entrance section and traffic of an exit section of each lane, respectively, and the traffic variation prediction module 523 is configured to obtain predicted traffic variation of each lane based on the lane speeds, the traffic of the entrance section, the traffic of the exit section, and time duration information of a traffic light.

As shown in FIG. 7, the th prediction module 520 may further include a lane change information determination module 524, a traffic determination module 525, and a th adjustment module 526. the lane change information determination module 524 is configured to determine lane change information of a vehicle according to a navigation direction of the vehicle on the road. the traffic determination module 525 is configured to obtain an entrance traffic and an exit traffic of each lane based on the lane change information. the th adjustment module 526 is configured to adjust the predicted change traffic based on the entrance traffic and the exit traffic.

As examples of the present disclosure, as shown in FIG. 8, the policy determination module 530 may include a fifth statistics module 531 for making statistics of the average existing lane flow and the average predicted lane flow for lanes in two different directions of vehicle travel in the roadway and a policy determination submodule 532, the policy determination submodule 532 for determining a lane-change policy based on a difference between the average existing lane flow and/or the average predicted lane flow for lanes in the two different directions of vehicle travel, wherein the policy determination submodule 532 may generate a lane-change policy if the difference between the average existing lane flow and/or the average predicted lane flow for lanes in the different directions of vehicle travel is greater than a predetermined threshold.

As examples of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a strategy obtaining module 550 and a second adjusting module 560 shown by dashed boxes in the figure, wherein the strategy obtaining module 550 is used for obtaining lane changing decisions of a plurality of roads in a predetermined area, the second adjusting module 560 is used for adjusting each lane changing decision with the aim of improving the overall traffic environment in the predetermined area, optionally, the second adjusting module 560 may include an operation module and a second adjusting submodule (not shown in the figure), wherein the operation module may be used for performing integrated simulation calculation on the lane changing decisions of the plurality of roads to calculate the overall flow rate and vehicle speed change conditions in the predetermined area, and the second adjusting submodule may be used for adjusting each lane changing decision based on the calculation result.

As examples of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a vehicle determining module 570 and a transmitting module 580, which are indicated by dashed boxes in the figure, the vehicle determining module 570 is used for determining vehicles needing to change lanes in the road, and the transmitting module 580 is used for transmitting the guiding information to the vehicles needing to change lanes.

As examples of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include an information modifying module 590 shown by a dashed line box in the figure, the information modifying module 590 is configured to modify roadside information of the road based on the lane changing strategy, wherein the roadside information includes items or more of road information, road identification, and a time length of switching between traffic lights.

As examples of the present disclosure, as shown in fig. 5, the lane changing device 500 may further optionally include a control module 595 shown by a dashed line box, the control module 595 is configured to issue a warning to the vehicle, or correct the driving direction of the vehicle, or control the parking in case that it is detected that the vehicle is not driving according to the lane changing strategy.

[ ROAD ISOLATION DEVICE ]

FIG. 9 is a schematic block diagram illustrating the structure of a road isolation device in accordance with an embodiment of the present disclosure , wherein the functional modules of the road isolation device may be implemented by hardware, software, or a combination of hardware and software implementing the principles of the present disclosure.

In the following, functional modules that the road isolation device may have and operations that each functional module may perform are briefly described, and for the details related thereto, reference may be made to the above description of the road isolation method, which is not repeated herein.

Referring to fig. 9, the road isolation apparatus 900 includes a policy generation module 910 and a transmission module 920.

The strategy generation module 910 is configured to generate a lane change strategy in response to an isolation instruction for a predetermined lane range in a road, wherein the lane change strategy includes position information of the predetermined lane range and guidance information for assisting lane change. The sending module 920 is configured to send the guidance information to a vehicle located in the predetermined lane range to guide the vehicle to move away from the predetermined lane range.

As shown in fig. 9, the road isolation device 900 may further optionally include a modification module 930 shown by a dashed box in the figure, the modification module 930 is configured to modify road side information of the road based on the lane change policy, where the road side information includes items or more of road information, road identification, and traffic light switching duration.

[ calculating device ]

Fig. 10 shows a schematic structural diagram of a computing device that may be used to implement the data processing of the lane change method or road isolation method described above according to an embodiment of the present disclosure .

Referring to fig. 10, the computing device 1000 includes a memory 1010 and a processor 1020.

The processors 1020 may be multi-core processors or may include multiple processors, in embodiments, the processors 1020 may include general-purpose host processors and or more special purpose coprocessors such as Graphics Processing Units (GPUs), digital signal processing units (DSPs), etc. in embodiments, the processors 1020 may be implemented using custom circuits such as Application Specific Integrated Circuits (ASICs) or Field Programmable logic Arrays (FPGAs).

The memory 1010 may include various types of storage units such as system memory, Read Only Memory (ROM) and permanent storage devices, where the ROM may store static data or instructions required by the processor 1020 or other modules of the computer, the permanent storage devices may be read-write capable storage devices, the permanent storage devices may be non-volatile storage devices that do not lose stored instructions and data even after the computer is powered down in some embodiments, the permanent storage devices employ mass storage devices (e.g., magnetic or optical disks, flash memory) as the permanent storage devices, in some embodiments, the permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives), the system memory may be writable or readable storage devices, such as dynamic random access memory, the system memory may store or all instructions and data required by the processor during operation, furthermore, the memory 1010 may include any combination of computer readable storage media including various types of semiconductor memory chips (DRAM, compact disks, optical disks, flash, read only memory, and/or flash memory cards), and the SD/or CD-read only memory devices may include read-read only memory devices, DVD-read only memory devices, such as CD-ROM, DVD-ROM-CD-ROM-CD-ROM-CD-ROM-.

The memory 1010 has stored thereon executable code that, when executed by the processor 1020, may cause the processor 1020 to perform the lane changing method or the road isolating method described above.

The lane change and road isolation method, apparatus, device and storage medium according to the present invention have been described above in detail with reference to the accompanying drawings.

Furthermore, the method according to the invention may also be implemented as computer programs or computer program products comprising computer program code instructions for carrying out the above-mentioned steps defined in the above-mentioned method of the invention.

Alternatively, the present invention may also be embodied as non-transitory machine-readable storage media (or computer-readable storage media or machine-readable storage media) having stored thereon executable code (or a computer program, or computer instruction code) which, when executed by a processor of an electronic device (or computing device, server, etc.), causes the processor to perform the steps of the above-described method according to the present invention.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein may be implemented as electronic hardware, computer software, or combinations of both.

It should also be noted that, in some alternative implementations, the functions noted in the block diagrams and/or flowchart block or blocks, and combinations of blocks in the block diagrams and/or flowchart block or blocks, may occur out of the order noted in the figures, for example, two sequential blocks may in fact be executed substantially concurrently, or in reverse order, depending on the functionality involved.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.