CN104960468A - Method and device for changing lanes during traveling - Google Patents
Method and device for changing lanes during traveling Download PDFInfo
- Publication number
- CN104960468A CN104960468A CN201510279577.5A CN201510279577A CN104960468A CN 104960468 A CN104960468 A CN 104960468A CN 201510279577 A CN201510279577 A CN 201510279577A CN 104960468 A CN104960468 A CN 104960468A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- geographical location
- location information
- lane change
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
The invention discloses a method and device for changing lanes during traveling, and belongs to the technical field of vehicle safety. The method comprises the following steps: acquiring the traveling information, the geographical position information and the lane pre-changing information of a first vehicle during traveling; judging which lane the first vehicle expects to drive in according to the lane pre-changing information and the geographical position information of the first vehicle; receiving the traveling information and the geographical position information of a second vehicle; judging whether the second vehicle is behind the first vehicle and positioned in the lane which the first vehicle expects to drive in or not; if the second vehicle is behind the first vehicle and positioned in the lane which the first vehicle expects to drive in, judging whether the second vehicle can collide with the first vehicle or not; and if yes, sending an alarm to a driver of the first vehicle. Through the adoption of the method disclosed by the invention, drivers can be notified in advance whether safety risks exist during lane changing or not, so that lane changing is safe.
Description
Technical field
The present invention relates to technical field of vehicle safety, particularly one driving lane change method and apparatus.
Background technology
Along with the fast development of Chinese society economy, vehicle is day by day universal as the vehicle of trip, and the traffic safety status of vehicle is but on the rise, and traffic safety problem also more and more receives the concern of people.
In prior art, chaufeur is in the process of steering vehicle, if need lane change to travel, general needs, by observing the back mirror being arranged on both sides car door, judges whether current road traffic state can safely through row lane change.
But this artificial judgment mode is subject to chaufeur subjective experience or such environmental effects (such as: low visibility on rainy day), not fool proof, also often easily brings out traffic accidents.
Summary of the invention
In order to solve the not foolproof problem of existing driving lane changing way, embodiments provide a kind of driving lane change method and apparatus.Described technical scheme is as follows:
On the one hand, provide a kind of driving lane change method, described method comprises:
Obtain the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of described first vehicle comprises: the speed of a motor vehicle of described first vehicle, acceleration/accel and travel direction, and the pre-lane change information of described first vehicle comprises: the steering indicating light information of described first vehicle or direction corner information;
According to pre-lane change information and the geographical location information of described first vehicle, judge the track that described first vehicle will sail into;
Receive running information and the geographical location information of the second vehicle, the running information of described second vehicle comprises: the speed of a motor vehicle of described second vehicle, acceleration/accel and travel direction, and described second vehicle is and the arbitrary vehicle of the distance of described first vehicle within the scope of predeterminable range;
According to the geographical location information of the geographical location information of described first vehicle and the track that will sail into and described second vehicle, judge that whether described second vehicle is positioned at the rear of described first vehicle the track that described first vehicle will sail into;
If described second vehicle is at the rear of described first vehicle and be positioned at the track that described first vehicle will sail into, then according to the running information of described first vehicle and the running information of geographical location information and described second vehicle and geographical location information, judge described second vehicle whether can with described first collision happens;
If described second vehicle can with described first collision happens, then the chaufeur to described first vehicle sends early warning.
Particularly, described acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, comprising:
By real time dynamic measurement technology RTK, carry out the first vehicle geographical location information in the process of moving described in Real-time Obtaining;
By vehicle-mounted diagnosis device OBD, obtain the pre-lane change information of described first vehicle.
Further, the described pre-lane change information according to described first vehicle and geographical location information, judge to comprise the track that described first vehicle will sail into:
Judge the lane change direction indicated by steering indicating light of described first vehicle,
According to the lane change direction indicated by the geographical location information of described first vehicle and steering indicating light, judge the track that described first vehicle will sail into;
Or, judge whether the direction corner of described first vehicle is greater than predetermined angle,
If the direction corner of described first vehicle is greater than predetermined angle, then judge the lane change direction indicated by the corner of direction of described first vehicle,
According to the lane change direction indicated by the geographical location information of described first vehicle and direction corner, judge the track that described first vehicle will sail into.
Particularly, the running information of described reception second vehicle and geographical location information, comprising:
By Dedicated Short Range Communications, technology DSRC, receive running information and the geographical location information of the second vehicle.
Particularly, if described second vehicle can with described first collision happens, then the chaufeur to described first vehicle sends early warning, comprising:
If described second vehicle can with described first collision happens, then according to the geographical location information of described first vehicle and the geographical location information of described second vehicle, calculate the spacing between described first vehicle and described second vehicle;
When described spacing is less than or equal to the first predeterminable range, the chaufeur to described first vehicle sends one-level early warning;
When described spacing is greater than described first predeterminable range and is less than or equal to the second predeterminable range, the chaufeur to described first vehicle sends secondary early warning;
When described vehicle is greater than described second predeterminable range and is less than or equal to the 3rd predeterminable range, the chaufeur to described first vehicle sends three grades of early warning;
Described first predeterminable range is less than described second predeterminable range, and described second predeterminable range is less than described 3rd predeterminable range.
On the other hand, provide a kind of driving lane change device, described device comprises:
Acquisition module, for obtaining the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of described first vehicle comprises: the speed of a motor vehicle of described first vehicle, acceleration/accel and travel direction, and the pre-lane change information of described first vehicle comprises: the steering indicating light information of described first vehicle or direction corner information;
Judge module, for according to the pre-lane change information of described first vehicle and geographical location information, judges the track that described first vehicle will sail into;
Receiver module, for receiving running information and the geographical location information of the second vehicle, the running information of described second vehicle comprises: the speed of a motor vehicle of described second vehicle, acceleration/accel and travel direction, and described second vehicle is and the arbitrary vehicle of the distance of described first vehicle within the scope of predeterminable range;
Described judge module, also for the geographical location information according to the geographical location information of described first vehicle and the track that will sail into and described second vehicle, judge that whether described second vehicle is positioned at the rear of described first vehicle the track that described first vehicle will sail into;
Described judge module, also for when described second vehicle is at the rear of described first vehicle and when being positioned at the track that described first vehicle will sail into, according to the running information of described first vehicle and the running information of geographical location information and described second vehicle and geographical location information, judge described second vehicle whether can with described first collision happens;
Warning module, for when described second vehicle can with described first collision happens time, the chaufeur to described first vehicle sends early warning.
Particularly, described acquisition module, comprising:
Acquiring unit, for by real time dynamic measurement technology RTK, carrys out the first vehicle geographical location information in the process of moving described in Real-time Obtaining;
Vehicle-mounted diagnosis device OBD, for obtaining the pre-lane change information of described first vehicle.
Further, described judge module comprises:
First judging unit, for judge described first vehicle steering indicating light indicated by lane change direction,
Described first judging unit, also for the lane change direction indicated by the geographical location information of described first vehicle and steering indicating light, judges the track that described first vehicle will sail into;
Second judging unit, for judging whether the direction corner of described first vehicle is greater than predetermined angle,
Described second judging unit, also for when the direction corner of described first vehicle is greater than predetermined angle, judges the lane change direction indicated by the corner of direction of described first vehicle,
Described second judging unit, also for the lane change direction indicated by the geographical location information of described first vehicle and direction corner, judges the track that described first vehicle will sail into.
Particularly, described receiver module, also comprises:
Receiving element, for by Dedicated Short Range Communications, technology DSRC, receives running information and the geographical location information of described second vehicle.
Particularly, described warning module comprises:
Processing unit, for when described second vehicle can with described first collision happens time, according to the geographical location information of described first vehicle and the geographical location information of described second vehicle, calculate the spacing between described first vehicle and described second vehicle;
Prewarning unit, for when described spacing is less than or equal to the first predeterminable range, the chaufeur to described first vehicle sends one-level early warning;
Described prewarning unit, time also for being greater than described first predeterminable range when described spacing and being less than or equal to the second predeterminable range, the chaufeur to described first vehicle sends secondary early warning;
Described prewarning unit, also for when described vehicle is greater than described second predeterminable range and when being less than or equal to the 3rd predeterminable range, the chaufeur to described first vehicle sends three grades of early warning;
Described first predeterminable range is less than described second predeterminable range, and described second predeterminable range is less than described 3rd predeterminable range.
The beneficial effect that the technical scheme that the embodiment of the present invention provides is brought is:
By obtaining the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information, and according to the pre-lane change information of the first vehicle and geographical location information, judge the track that the first vehicle will sail into, then, receive running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel, and travel direction, second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and according to the geographical location information of the first vehicle and the track that will sail into, and second geographical location information of vehicle, judge that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, finally, if the second vehicle is at the rear of the first vehicle and be positioned at the track that the first vehicle will sail into, then according to running information and the geographical location information of the first vehicle, and second vehicle running information and geographical location information, judge the second vehicle whether can with the first collision happens, if the second vehicle can with the first collision happens, chaufeur then to the first vehicle sends early warning, whether above-mentioned lane change method advance notice chaufeur lane change operation can have security risk, and not by chaufeur subjective experience or environmental factor shadow, make lane change safer, and then available energy reduces traffic accidents.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the application scenarios schematic diagram that the embodiment of the present invention provides;
Fig. 2 is the one driving lane change method flow diagram that the embodiment of the present invention one provides;
Fig. 3 is the one driving lane change method flow diagram that the embodiment of the present invention two provides;
Fig. 4 is the one driving lane change apparatus structure schematic diagram that the embodiment of the present invention three provides;
Fig. 5 is the one driving lane change apparatus structure schematic diagram that the embodiment of the present invention four provides.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, embodiment of the present invention is described further in detail.
For the ease of understanding the present invention, first briefly introduce application scenarios of the present invention, see Fig. 1, this application scenarios comprises: the first vehicle 11 and the second vehicle 12, second vehicle 12 is and the arbitrary vehicle of the distance of the first vehicle 11 within the scope of predeterminable range, and the first vehicle 11 can be intercomed by wireless network mutually with the second vehicle 12.
Embodiment one
Embodiments provide a kind of driving lane change method, performed by the first vehicle, the method comprises:
Step S11, obtain the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information.
In the present embodiment, pre-lane change information is used for showing that chaufeur will carry out lane change operation, by obtaining pre-lane change information, can judge in advance, accomplish to give warning in advance to the security risk of lane change operation.
Step S12, according to pre-lane change information and the geographical location information of the first vehicle, judges the track that the first vehicle will sail into.
Step S13, receive running information and the geographical location information of the second vehicle, the running information of this second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel and travel direction, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range.
In the present embodiment, the first vehicle can carry out radio communication with the second vehicle, and this preset range can be that the second vehicle can carry out the distance of radio communication with the first vehicle.
Step S14, according to the geographical location information of the geographical location information of the first vehicle and the track that will sail into and the second vehicle, judges that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into.
In the present embodiment, can judge that whether the second vehicle is at the rear of the first vehicle by the geographical location information of the first vehicle and the second vehicle, the track will be able to sailed into by the geographical location information of the second vehicle and the first vehicle, judges the second vehicle whether in the track that the first vehicle will sail into.
Particularly, if the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, then step S15 is performed; If the second vehicle is not positioned at the track that the first vehicle will sail into, or the second vehicle is positioned at the track that the first vehicle will sail into, but not at the rear of the first vehicle, then the first vehicle can safe lane change.
Step S15, according to the running information of the first vehicle and the running information of geographical location information and the second vehicle and geographical location information, judge the second vehicle whether can with the first collision happens.
Particularly, if the second vehicle can with the first collision happens, then perform step S16, if the second vehicle can not with the first collision happens, then the first vehicle also can safe lane change.
Step S16, the chaufeur to the first vehicle sends early warning.
In the present embodiment, the chaufeur to the first vehicle sends early warning, operates to remind chaufeur lane change the potential safety hazard existed.
The embodiment of the present invention is by acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information, and according to the pre-lane change information of the first vehicle and geographical location information, judge the track that the first vehicle will sail into, then, receive running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel, and travel direction, second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and according to the geographical location information of the first vehicle and the track that will sail into, and second geographical location information of vehicle, judge that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, finally, if the second vehicle is at the rear of the first vehicle and be positioned at the track that the first vehicle will sail into, then according to running information and the geographical location information of the first vehicle, and second vehicle running information and geographical location information, judge the second vehicle whether can with the first collision happens, if the second vehicle can with the first collision happens, chaufeur then to the first vehicle sends early warning, whether above-mentioned lane change method advance notice chaufeur lane change operation can have security risk, and not by chaufeur subjective experience or environmental factor shadow, make lane change safer, and then available energy reduces traffic accidents.
Embodiment two
Embodiments provide a kind of driving lane change method, performed by the first vehicle, the method comprises:
Step S21, obtain the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information.
Particularly, step S21 can realize in the following way:
By real time dynamic measurement technology (Real Time Kinematic is called for short " RTK "), carry out Real-time Obtaining first vehicle geographical location information in the process of moving;
By vehicle-mounted diagnosis device (On-Board Diagnostic is called for short " OBD "), obtain the pre-lane change information of the first vehicle.
In the present embodiment, conventional global positioning system (Global Positioning System, be called for short " GPS ") positioning precision not high enough, and RTK technology is the real time differential GPS technology being observed basis with carrier phase, the error in measurement process can be removed, realize high fix, positioning precision reaches decimetre even centimetre rank, therefore, the first vehicle geographical location information in the process of moving can be obtained more accurately by RTK technology, for the judgement of follow-up lane change security risk provides data more accurately, improve the accuracy of judgement.
In addition, OBD device can read the state parameter on each node of network of vehicle body, such as, can obtain the information such as the unlatching of steering indicating light and the corner of bearing circle.Can the pre-lane change information of Real-time Obtaining first vehicle by OBD device, predict by these pre-lane change information the track that the first vehicle will sail into.
Step S22, according to pre-lane change information and the geographical location information of the first vehicle, judges the track that the first vehicle will sail into.
In the present embodiment, the geographical location information of the first vehicle can pass through RTK commercial measurement, and its error measured is little, precision is high, can coordinate high-precision electronic chart, shows the position of the first vehicle on track.
Particularly, above-mentioned steps S22 can realize in the following way:
Judge the lane change direction indicated by steering indicating light of the first vehicle,
According to the lane change direction indicated by the geographical location information of the first vehicle and steering indicating light, judge the track that the first vehicle will sail into.
Or, judge whether the direction corner of the first vehicle is greater than predetermined angle,
If the direction corner of the first vehicle is greater than predetermined angle, then judge the lane change direction indicated by the corner of direction of the first vehicle,
According to the lane change direction indicated by the geographical location information of the first vehicle and direction corner, judge the track that the first vehicle will sail into.
In the present embodiment, if direction corner is less than predetermined angle (such as: 20 degree), then the offhand lane change of chaufeur is shown.
In the present embodiment, by judging the lane change direction indicated by steering indicating light, the track that the first vehicle will sail into can be judged, also can when direction corner be greater than predetermined angle, by the lane change direction indicated by the corner of direction, judge the track that the first vehicle will sail into.By any one mode above-mentioned, the track that the first vehicle will sail into effectively can be judged.
Step S23, receive running information and the geographical location information of the second vehicle, the running information of this second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel and travel direction, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range.
Particularly, above-mentioned steps S23 can realize in the following way:
By Dedicated Short Range Communications, technology (Dedicated Short Range Communications is called for short " DSRC "), receive running information and the geographical location information of the second vehicle.
In the present embodiment, first vehicle and the second vehicle can pass through DSRC technology, carry out intercommunication in the wireless network, such first vehicle and the second vehicle can know running information each other and geographical location information real-time exactly, for follow-up judgement work provides failure-free guarantee.In addition, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and when the first vehicle and the second vehicle adopt DSRC technology to carry out radio communication, this predeterminable range scope can be 0 ~ 1000m.
It should be noted that, the geographical location information of the second vehicle can adopt RTK commercial measurement.
In the present embodiment, the first vehicle, after the running information receiving the second vehicle, according to the direction of traffic of the second vehicle, can judge whether this second vehicle is the vehicle travelled in the same way with the first vehicle, if not, then can get rid of this second vehicle.
Step S24, according to the geographical location information of the geographical location information of the first vehicle and the track that will sail into and the second vehicle, judges that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into.
In the present embodiment, can judge that whether the second vehicle is at the rear of the first vehicle by the geographical location information of the first vehicle and the second vehicle, the track will be able to sailed into by the geographical location information of the second vehicle and the first vehicle judges the second vehicle whether in the track that the first vehicle will sail into.
Particularly, if the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, then step S25 is performed; If the second vehicle is not positioned at the track that the first vehicle will sail into, or the second vehicle is positioned at the track that the first vehicle will sail into, but not at the rear of the first vehicle, then the first vehicle can safe lane change.
Step S25, according to the running information of the first vehicle and the running information of geographical location information and the second vehicle and geographical location information, judge the second vehicle whether can with the first collision happens.
Particularly, if the second vehicle can with the first collision happens, then perform step S26, if the second vehicle can not with the first collision happens, then the first vehicle also can safe lane change.
Step S26, the chaufeur to the first vehicle sends early warning.
Particularly, above-mentioned steps S26 can realize in the following way:
If the second vehicle can with the first collision happens, then according to the geographical location information of the first vehicle and the geographical location information of the second vehicle, calculate the spacing between the first vehicle and the second vehicle;
When this spacing is less than or equal to the first predeterminable range (such as: 15m), the chaufeur to the first vehicle sends one-level early warning;
When this spacing is greater than the first predeterminable range and is less than or equal to the second predeterminable range (such as: 30m), the chaufeur to the first vehicle sends secondary early warning;
When this vehicle is greater than the second predeterminable range and is less than or equal to the 3rd predeterminable range (such as: 50m), the chaufeur to the first vehicle sends three grades of early warning;
First predeterminable range is less than the second predeterminable range, and the second predeterminable range is less than the 3rd predeterminable range.
In the present embodiment, the higher grade explanation accident risk of early warning is larger, and namely the accident risk of one-level early warning is maximum.By above-mentioned grading forewarning system, the accident risk of chaufeur to lane change can be made to have had clearer and more definite judgement, be convenient to chaufeur and operate accordingly according to advanced warning grade.Such as: if advanced warning grade is too high, can lane change be cancelled, if advanced warning grade is lower, can wait until the suitable moment carries out lane change again.
Step S27, the early warning information chaufeur to the first vehicle being sent early warning sends to the second vehicle, to provide alert to the chaufeur of the second vehicle.
In the present embodiment, the running information of the first vehicle, geographical location information and pre-lane change information can also be sent the second vehicle by the first vehicle, judge that it whether can when the first vehicle lane change by the second vehicle, with the first collision happens, if can collide, chaufeur then to self sends early warning, and to remind chaufeur to have vehicle will lane change, and this lane change has security risk.
The embodiment of the present invention is by acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information, and according to the pre-lane change information of the first vehicle and geographical location information, judge the track that the first vehicle will sail into, then, receive running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel, and travel direction, second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and according to the geographical location information of the first vehicle and the track that will sail into, and second geographical location information of vehicle, judge that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, finally, if the second vehicle is at the rear of the first vehicle and be positioned at the track that the first vehicle will sail into, then according to running information and the geographical location information of the first vehicle, and second vehicle running information and geographical location information, judge the second vehicle whether can with the first collision happens, if the second vehicle can with the first collision happens, chaufeur then to the first vehicle sends early warning, whether above-mentioned lane change method advance notice chaufeur lane change operation can have security risk, and not by chaufeur subjective experience or environmental factor shadow, make lane change safer, and then available energy reduces traffic accidents.
Embodiment three
Embodiments provide a kind of device of safe lane change, this device can be arranged on the first vehicle, and see Fig. 4, this device comprises: acquisition module 301, judge module 302, receiver module 303 and warning module 304.
Acquisition module 301, for obtaining the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of the first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information.
In the present embodiment, pre-lane change information is used for showing that chaufeur will carry out lane change operation, by obtaining pre-lane change information, can judge in advance, accomplish to give warning in advance to the security risk of lane change operation.
Judge module 302, for according to the pre-lane change information of the first vehicle and geographical location information, judges the track that the first vehicle will sail into.
Receiver module 303, also for receiving running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel and travel direction, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range.
In the present embodiment, the first vehicle can carry out radio communication with the second vehicle, and this preset range can be that the second vehicle can carry out the distance of radio communication with the first vehicle.
Judge module 302, also for the geographical location information according to the geographical location information of the first vehicle and the track that will sail into and the second vehicle, judges that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into.
In the present embodiment, can judge that whether the second vehicle is at the rear of the first vehicle by the geographical location information of the first vehicle and the second vehicle, the track will be able to sailed into by the geographical location information of the second vehicle and the first vehicle judges the second vehicle whether in the track that the first vehicle will sail into.
Judge module 302, also for when the second vehicle is at the rear of the first vehicle and when being positioned at the track that the first vehicle will sail into, according to the running information of the first vehicle and the running information of geographical location information and the second vehicle and geographical location information, judge the second vehicle whether can with the first collision happens.
Warning module 304, for when the second vehicle can with the first collision happens time, the chaufeur to the first vehicle sends early warning.
In the present embodiment, the chaufeur to the first vehicle sends early warning, operates to remind chaufeur lane change the potential safety hazard existed.
The embodiment of the present invention is by acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information, and according to the pre-lane change information of the first vehicle and geographical location information, judge the track that the first vehicle will sail into, then, receive running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel, and travel direction, second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and according to the geographical location information of the first vehicle and the track that will sail into, and second geographical location information of vehicle, judge that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, finally, if the second vehicle is at the rear of the first vehicle and be positioned at the track that the first vehicle will sail into, then according to running information and the geographical location information of the first vehicle, and second vehicle running information and geographical location information, judge the second vehicle whether can with the first collision happens, if the second vehicle can with the first collision happens, chaufeur then to the first vehicle sends early warning, whether above-mentioned lane change method advance notice chaufeur lane change operation can have security risk, and not by chaufeur subjective experience or environmental factor shadow, make lane change safer, and then available energy reduces traffic accidents.
Embodiment four
Embodiments provide a kind of device of safe lane change, this device can be arranged on the first vehicle, and see Fig. 5, this device comprises:
Acquisition module 401, for obtaining the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of the first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information.
In the present embodiment, pre-lane change information is used for showing that chaufeur will carry out lane change operation, by obtaining pre-lane change information, can judge in advance, accomplish to give warning in advance to the security risk of lane change operation.
Judge module 402, for according to the pre-lane change information of the first vehicle and geographical location information, judges the track that the first vehicle will sail into.
Receiver module 403, also for receiving running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel and travel direction, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range.
In the present embodiment, the first vehicle can carry out radio communication with the second vehicle, and this preset range can be that the second vehicle can carry out the distance of radio communication with the first vehicle.
Judge module 402, also for the geographical location information according to the geographical location information of the first vehicle and the track that will sail into and the second vehicle, judges that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into.
In the present embodiment, can judge that whether the second vehicle is at the rear of the first vehicle by the geographical location information of the first vehicle and the second vehicle, the track will be able to sailed into by the geographical location information of the second vehicle and the first vehicle judges the second vehicle whether in the track that the first vehicle will sail into.
Judge module 402, also for when the second vehicle is at the rear of the first vehicle and when being positioned at the track that the first vehicle will sail into, according to the running information of the first vehicle and the running information of geographical location information and the second vehicle and geographical location information, judge the second vehicle whether can with the first collision happens.
Warning module 404, for when the second vehicle can with the first collision happens time, the chaufeur to the first vehicle sends early warning.
In the present embodiment, the chaufeur to the first vehicle sends early warning, operates to remind chaufeur lane change the potential safety hazard existed.
Particularly, acquisition module 401 comprises: acquiring unit 411.
Acquiring unit 411, for by real time dynamic measurement technology RTK, carrys out Real-time Obtaining first vehicle geographical location information in the process of moving.
In the present embodiment, the positioning precision of conventional gps system is not high enough, and RTK technology is the real time differential GPS technology being observed basis with carrier phase, can remove the error in measurement process, realize high fix, positioning precision reaches decimetre even centimetre rank, therefore, the first vehicle geographical location information in the process of moving can be obtained more accurately by RTK technology, for the judgement of follow-up lane change security risk provides data more accurately, improve the accuracy of judgement.
In the present embodiment, acquisition module 401 can comprise vehicle-mounted diagnosis device OBD, for obtaining the pre-lane change information of the first vehicle.OBD device can read the state parameter on each node of network of vehicle body, such as, can obtain the information such as the unlatching of steering indicating light and the corner of bearing circle.Can the pre-lane change information of Real-time Obtaining first vehicle by OBD device, predict by these pre-lane change information the track that the first vehicle will sail into.
Further, judge module 402 comprises: the first judging unit 412 and the second judging unit 422.
First judging unit 412, for judge the first vehicle steering indicating light indicated by lane change direction.
First judging unit 412, also for the lane change direction indicated by the geographical location information of the first vehicle and steering indicating light, judges the track that the first vehicle will sail into.
Second judging unit 422, for judging whether the direction corner of the first vehicle is greater than predetermined angle.
Second judging unit 422, also for when the direction corner of the first vehicle is greater than predetermined angle, judges the lane change direction indicated by the corner of direction of the first vehicle.
Second judging unit 422, also for the lane change direction indicated by the geographical location information of the first vehicle and direction corner, judges the track that the first vehicle will sail into.
Particularly, receiver module 403 also comprises: receiving element 413.
Receiving element 413, for by Dedicated Short Range Communications, technology DSRC, receives running information and the geographical location information of the second vehicle.
In the present embodiment, first vehicle and the second vehicle can pass through DSRC technology, carry out intercommunication in the wireless network, such first vehicle and the second vehicle can know running information each other real-time exactly, for follow-up judgement work provides failure-free guarantee.In addition, the second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and when the first vehicle and the second vehicle adopt DSRC technology to carry out radio communication, this predeterminable range scope can be 0 ~ 1000m.
Particularly, warning module 404 comprises: processing unit 414 and prewarning unit 424.
Processing unit 414, for when the second vehicle can with the first collision happens time, according to the geographical location information of the first vehicle and the geographical location information of the second vehicle, calculate the spacing between the first vehicle and the second vehicle.
Prewarning unit 424, for when this spacing is less than or equal to the first predeterminable range, the chaufeur to the first vehicle sends one-level early warning.
Prewarning unit 424, also for when this spacing is greater than the first predeterminable range and is less than or equal to the second predeterminable range, the chaufeur to the first vehicle sends secondary early warning.
Prewarning unit 424, also for when this vehicle is greater than the second predeterminable range and when being less than or equal to the 3rd predeterminable range, the chaufeur to the first vehicle sends three grades of early warning.
First predeterminable range is less than the second predeterminable range, and the second predeterminable range is less than the 3rd predeterminable range.
In the present embodiment, the first predeterminable range can be 15m, and the second predeterminable range can be 30m, and the 3rd early warning distance can be 50m.
In the present embodiment, the higher grade explanation accident risk of early warning is larger, and namely the accident risk of one-level early warning is maximum.By above-mentioned grading forewarning system, the accident risk of chaufeur to lane change can be made to have had clearer and more definite judgement, be convenient to chaufeur and operate accordingly according to advanced warning grade.Such as: if advanced warning grade is too high, can lane change be cancelled, if advanced warning grade is lower, can wait until the suitable moment carries out lane change again.
The embodiment of the present invention is by acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of this first vehicle comprises: the speed of a motor vehicle of the first vehicle, acceleration/accel and travel direction, the pre-lane change information of the first vehicle comprises: the steering indicating light information of the first vehicle or direction corner information, and according to the pre-lane change information of the first vehicle and geographical location information, judge the track that the first vehicle will sail into, then, receive running information and the geographical location information of the second vehicle, the running information of the second vehicle comprises: the speed of a motor vehicle of the second vehicle, acceleration/accel, and travel direction, second vehicle is the arbitrary vehicle with the distance of the first vehicle within the scope of predeterminable range, and according to the geographical location information of the first vehicle and the track that will sail into, and second geographical location information of vehicle, judge that whether the second vehicle is positioned at the rear of the first vehicle the track that the first vehicle will sail into, finally, if the second vehicle is at the rear of the first vehicle and be positioned at the track that the first vehicle will sail into, then according to running information and the geographical location information of the first vehicle, and second vehicle running information and geographical location information, judge the second vehicle whether can with the first collision happens, if the second vehicle can with the first collision happens, chaufeur then to the first vehicle sends early warning, whether above-mentioned lane change method advance notice chaufeur lane change operation can have security risk, and not by chaufeur subjective experience or environmental factor shadow, make lane change safer, and then available energy reduces traffic accidents.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
It should be noted that: the device of the safe lane change that above-described embodiment provides is when realizing the method for safe lane change, only be illustrated with the division of above-mentioned each functional module, in practical application, can distribute as required and by above-mentioned functions and be completed by different functional modules, inner structure by equipment is divided into different functional modules, to complete all or part of function described above.In addition, the device of the safe lane change that above-described embodiment provides and the embodiment of the method for safe lane change belong to same design, and its specific implementation process refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a driving lane change method, it is characterized in that, described method comprises:
Obtain the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of described first vehicle comprises: the speed of a motor vehicle of described first vehicle, acceleration/accel and travel direction, and the pre-lane change information of described first vehicle comprises: the steering indicating light information of described first vehicle or direction corner information;
According to pre-lane change information and the geographical location information of described first vehicle, judge the track that described first vehicle will sail into;
Receive running information and the geographical location information of the second vehicle, the running information of described second vehicle comprises: the speed of a motor vehicle of described second vehicle, acceleration/accel and travel direction, and described second vehicle is and the arbitrary vehicle of the distance of described first vehicle within the scope of predeterminable range;
According to the geographical location information of the geographical location information of described first vehicle and the track that will sail into and described second vehicle, judge that whether described second vehicle is positioned at the rear of described first vehicle the track that described first vehicle will sail into;
If described second vehicle is at the rear of described first vehicle and be positioned at the track that described first vehicle will sail into, then according to the running information of described first vehicle and the running information of geographical location information and described second vehicle and geographical location information, judge described second vehicle whether can with described first collision happens;
If described second vehicle can with described first collision happens, then the chaufeur to described first vehicle sends early warning.
2. method according to claim 1, is characterized in that, described acquisition first vehicle running information in the process of moving, geographical location information and pre-lane change information, comprising:
By real time dynamic measurement technology RTK, carry out the first vehicle geographical location information in the process of moving described in Real-time Obtaining;
By vehicle-mounted diagnosis device OBD, obtain the pre-lane change information of described first vehicle.
3. method according to claim 2, is characterized in that, the described pre-lane change information according to described first vehicle and geographical location information, judges to comprise the track that described first vehicle will sail into:
Judge the lane change direction indicated by steering indicating light of described first vehicle,
According to the lane change direction indicated by the geographical location information of described first vehicle and steering indicating light, judge the track that described first vehicle will sail into;
Or, judge whether the direction corner of described first vehicle is greater than predetermined angle,
If the direction corner of described first vehicle is greater than predetermined angle, then judge the lane change direction indicated by the corner of direction of described first vehicle,
According to the lane change direction indicated by the geographical location information of described first vehicle and direction corner, judge the track that described first vehicle will sail into.
4. method according to claim 1, is characterized in that, the running information of described reception second vehicle and geographical location information, comprising:
By Dedicated Short Range Communications, technology DSRC, receive running information and the geographical location information of the second vehicle.
5. the method as requested described in 1, is characterized in that, if described second vehicle can with described first collision happens, then the chaufeur to described first vehicle sends early warning, comprising:
If described second vehicle can with described first collision happens, then according to the geographical location information of described first vehicle and the geographical location information of described second vehicle, calculate the spacing between described first vehicle and described second vehicle;
When described spacing is less than or equal to the first predeterminable range, the chaufeur to described first vehicle sends one-level early warning;
When described spacing is greater than described first predeterminable range and is less than or equal to the second predeterminable range, the chaufeur to described first vehicle sends secondary early warning;
When described vehicle is greater than described second predeterminable range and is less than or equal to the 3rd predeterminable range, the chaufeur to described first vehicle sends three grades of early warning;
Described first predeterminable range is less than described second predeterminable range, and described second predeterminable range is less than described 3rd predeterminable range.
6. a driving lane change device, it is characterized in that, described device comprises:
Acquisition module, for obtaining the first vehicle running information in the process of moving, geographical location information and pre-lane change information, the running information of described first vehicle comprises: the speed of a motor vehicle of described first vehicle, acceleration/accel and travel direction, and the pre-lane change information of described first vehicle comprises: the steering indicating light information of described first vehicle or direction corner information;
Judge module, for according to the pre-lane change information of described first vehicle and geographical location information, judges the track that described first vehicle will sail into;
Receiver module, for receiving running information and the geographical location information of the second vehicle, the running information of described second vehicle comprises: the speed of a motor vehicle of described second vehicle, acceleration/accel and travel direction, and described second vehicle is and the arbitrary vehicle of the distance of described first vehicle within the scope of predeterminable range;
Described judge module, also for the geographical location information according to the geographical location information of described first vehicle and the track that will sail into and described second vehicle, judge that whether described second vehicle is positioned at the rear of described first vehicle the track that described first vehicle will sail into;
Described judge module, also for when described second vehicle is at the rear of described first vehicle and when being positioned at the track that described first vehicle will sail into, according to the running information of described first vehicle and the running information of geographical location information and described second vehicle and geographical location information, judge described second vehicle whether can with described first collision happens;
Warning module, for when described second vehicle can with described first collision happens time, the chaufeur to described first vehicle sends early warning.
7. device according to claim 6, is characterized in that, described acquisition module, comprising:
Acquiring unit, for by real time dynamic measurement technology RTK, carrys out the first vehicle geographical location information in the process of moving described in Real-time Obtaining;
Vehicle-mounted diagnosis device OBD, for obtaining the pre-lane change information of described first vehicle.
8. device according to claim 7, is characterized in that, described judge module comprises:
First judging unit, for judge described first vehicle steering indicating light indicated by lane change direction,
Described first judging unit, also for the lane change direction indicated by the geographical location information of described first vehicle and steering indicating light, judges the track that described first vehicle will sail into;
Second judging unit, for judging whether the direction corner of described first vehicle is greater than predetermined angle,
Described second judging unit, also for when the direction corner of described first vehicle is greater than predetermined angle, judges the lane change direction indicated by the corner of direction of described first vehicle,
Described second judging unit, also for the lane change direction indicated by the geographical location information of described first vehicle and direction corner, judges the track that described first vehicle will sail into.
9. device according to claim 6, is characterized in that, described receiver module, also comprises:
Receiving element, for by Dedicated Short Range Communications, technology DSRC, receives running information and the geographical location information of described second vehicle.
10. device according to claim 6, is characterized in that, described warning module comprises:
Processing unit, for when described second vehicle can with described first collision happens time, according to the geographical location information of described first vehicle and the geographical location information of described second vehicle, calculate the spacing between described first vehicle and described second vehicle;
Prewarning unit, for when described spacing is less than or equal to the first predeterminable range, the chaufeur to described first vehicle sends one-level early warning;
Described prewarning unit, time also for being greater than described first predeterminable range when described spacing and being less than or equal to the second predeterminable range, the chaufeur to described first vehicle sends secondary early warning;
Described prewarning unit, also for when described vehicle is greater than described second predeterminable range and when being less than or equal to the 3rd predeterminable range, the chaufeur to described first vehicle sends three grades of early warning;
Described first predeterminable range is less than described second predeterminable range, and described second predeterminable range is less than described 3rd predeterminable range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510279577.5A CN104960468A (en) | 2015-05-27 | 2015-05-27 | Method and device for changing lanes during traveling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510279577.5A CN104960468A (en) | 2015-05-27 | 2015-05-27 | Method and device for changing lanes during traveling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104960468A true CN104960468A (en) | 2015-10-07 |
Family
ID=54214621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510279577.5A Pending CN104960468A (en) | 2015-05-27 | 2015-05-27 | Method and device for changing lanes during traveling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104960468A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105730443A (en) * | 2016-04-08 | 2016-07-06 | 奇瑞汽车股份有限公司 | Vehicle lane changing control method and system |
| CN105788321A (en) * | 2016-03-31 | 2016-07-20 | 腾讯科技（深圳）有限公司 | Vehicle communication method, vehicle communication device and vehicle communication system |
| CN106004655A (en) * | 2016-06-24 | 2016-10-12 | 深圳市元征科技股份有限公司 | Early warning method and device for blind spot collision |
| CN106097775A (en) * | 2016-06-07 | 2016-11-09 | 腾讯科技（深圳）有限公司 | A kind of method for early warning, terminal unit and server of based on navigation |
| CN106327895A (en) * | 2016-08-30 | 2017-01-11 | 深圳市元征科技股份有限公司 | Traveling road segment situation prompt system and method |
| CN106652559A (en) * | 2016-11-21 | 2017-05-10 | 深圳市元征软件开发有限公司 | Driving control method and apparatus |
| CN106960602A (en) * | 2017-03-28 | 2017-07-18 | 北京小米移动软件有限公司 | Carry out driving method, mobile unit and the device of early warning in vehicle travel process |
| CN107161145A (en) * | 2016-03-08 | 2017-09-15 | 罗伯特·博世有限公司 | Method and control device for avoiding rear-end collision |
| WO2018023386A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Method for collecting use data of lane change early warning technology and alarm system |
| WO2018023385A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Vecicle lane-change alarm method and alarm system |
| CN108146446A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Vehicle lane change early warning system, vehicle and vehicle lane change method for early warning |
| CN108340918A (en) * | 2017-01-19 | 2018-07-31 | 福特全球技术公司 | Lane changing |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN108490950A (en) * | 2018-04-23 | 2018-09-04 | 安徽江淮汽车集团股份有限公司 | A kind of lane change method and system based on virtual rail |
| CN108958242A (en) * | 2018-06-25 | 2018-12-07 | 武汉中海庭数据技术有限公司 | A kind of lane change decision assistant method and system based on high-precision map |
| WO2018223890A1 (en) * | 2017-06-09 | 2018-12-13 | 蔚来汽车有限公司 | Automatic lane changing control method and device for vehicle |
| CN109345870A (en) * | 2018-09-07 | 2019-02-15 | 北京邮电大学 | The method for early warning and device for preventing vehicle collision |
| CN109774712A (en) * | 2018-12-17 | 2019-05-21 | 北京汽车集团有限公司 | The method, apparatus and vehicle of vehicle control |
| CN109976334A (en) * | 2019-02-25 | 2019-07-05 | 广州文远知行科技有限公司 | Vehicle lane change method, apparatus, equipment and storage medium |
| CN110634328A (en) * | 2019-09-17 | 2019-12-31 | 重庆大学 | Lane change assisting method and system based on fusion of multi-sensor information and V2X technology |
| CN111275988A (en) * | 2020-01-20 | 2020-06-12 | 北京无限光场科技有限公司 | Vehicle turning reminding method, device, terminal and storage medium |
| CN112037366A (en) * | 2020-09-07 | 2020-12-04 | 广州勘帝德电子科技有限公司 | Automobile driving safety assisting method and system |
| CN112509377A (en) * | 2020-11-30 | 2021-03-16 | 重庆长安汽车股份有限公司 | Vehicle cooperative lane change control method based on V2V |
| CN112863249A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
| CN113299096A (en) * | 2017-12-28 | 2021-08-24 | 北京百度网讯科技有限公司 | Cooperative intersection traffic control method, device and equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6680689B1 (en) * | 2003-03-28 | 2004-01-20 | Visteon Global Technologies, Inc. | Method for determining object classification from side-looking sensor data |
| DE102006002662A1 (en) * | 2006-01-19 | 2007-08-02 | GM Global Technology Operations, Inc., Detroit | Car safety system comprises proximity sensors on rear of car and warning devices which indicate when car is about to change lane and are connected e.g. to sensors which detect lane markings |
| JP2011022990A (en) * | 2009-06-18 | 2011-02-03 | Nissan Motor Co Ltd | Vehicle operation supporting device and vehicle operation supporting method |
| DE102010052406A1 (en) * | 2010-11-24 | 2011-07-07 | Daimler AG, 70327 | Method for preventing car collisions, involves transferring lane change information with car lane change to another car, and triggering measurement in latter car to obviate collision with former car or to diminish consequences of collision |
| CN202345534U (en) * | 2011-11-14 | 2012-07-25 | 长安大学 | Intelligent warning system for lane changing of automobiles |
| CN103465907A (en) * | 2013-08-27 | 2013-12-25 | 奇瑞汽车股份有限公司 | Automotive collision avoidance and method |
| KR20140060107A (en) * | 2012-11-09 | 2014-05-19 | 현대모비스 주식회사 | Control method for collision avoidance of vehicle and apparatus for collision avoidance of vehicle implementing the same |
-
2015
- 2015-05-27 CN CN201510279577.5A patent/CN104960468A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6680689B1 (en) * | 2003-03-28 | 2004-01-20 | Visteon Global Technologies, Inc. | Method for determining object classification from side-looking sensor data |
| DE102006002662A1 (en) * | 2006-01-19 | 2007-08-02 | GM Global Technology Operations, Inc., Detroit | Car safety system comprises proximity sensors on rear of car and warning devices which indicate when car is about to change lane and are connected e.g. to sensors which detect lane markings |
| JP2011022990A (en) * | 2009-06-18 | 2011-02-03 | Nissan Motor Co Ltd | Vehicle operation supporting device and vehicle operation supporting method |
| DE102010052406A1 (en) * | 2010-11-24 | 2011-07-07 | Daimler AG, 70327 | Method for preventing car collisions, involves transferring lane change information with car lane change to another car, and triggering measurement in latter car to obviate collision with former car or to diminish consequences of collision |
| CN202345534U (en) * | 2011-11-14 | 2012-07-25 | 长安大学 | Intelligent warning system for lane changing of automobiles |
| KR20140060107A (en) * | 2012-11-09 | 2014-05-19 | 현대모비스 주식회사 | Control method for collision avoidance of vehicle and apparatus for collision avoidance of vehicle implementing the same |
| CN103465907A (en) * | 2013-08-27 | 2013-12-25 | 奇瑞汽车股份有限公司 | Automotive collision avoidance and method |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161145A (en) * | 2016-03-08 | 2017-09-15 | 罗伯特·博世有限公司 | Method and control device for avoiding rear-end collision |
| CN105788321A (en) * | 2016-03-31 | 2016-07-20 | 腾讯科技（深圳）有限公司 | Vehicle communication method, vehicle communication device and vehicle communication system |
| CN105730443B (en) * | 2016-04-08 | 2019-01-01 | 奇瑞汽车股份有限公司 | Vehicle lane change control method and system |
| CN105730443A (en) * | 2016-04-08 | 2016-07-06 | 奇瑞汽车股份有限公司 | Vehicle lane changing control method and system |
| CN106097775A (en) * | 2016-06-07 | 2016-11-09 | 腾讯科技（深圳）有限公司 | A kind of method for early warning, terminal unit and server of based on navigation |
| CN106004655A (en) * | 2016-06-24 | 2016-10-12 | 深圳市元征科技股份有限公司 | Early warning method and device for blind spot collision |
| CN106004655B (en) * | 2016-06-24 | 2019-04-19 | 深圳市元征科技股份有限公司 | A kind of blind spot anti-collision warning method and device |
| WO2018023385A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Vecicle lane-change alarm method and alarm system |
| WO2018023386A1 (en) * | 2016-08-02 | 2018-02-08 | 张阳 | Method for collecting use data of lane change early warning technology and alarm system |
| CN106327895A (en) * | 2016-08-30 | 2017-01-11 | 深圳市元征科技股份有限公司 | Traveling road segment situation prompt system and method |
| CN106652559A (en) * | 2016-11-21 | 2017-05-10 | 深圳市元征软件开发有限公司 | Driving control method and apparatus |
| CN108146446A (en) * | 2016-12-02 | 2018-06-12 | 比亚迪股份有限公司 | Vehicle lane change early warning system, vehicle and vehicle lane change method for early warning |
| CN108340918A (en) * | 2017-01-19 | 2018-07-31 | 福特全球技术公司 | Lane changing |
| CN106960602A (en) * | 2017-03-28 | 2017-07-18 | 北京小米移动软件有限公司 | Carry out driving method, mobile unit and the device of early warning in vehicle travel process |
| CN109050533A (en) * | 2017-06-09 | 2018-12-21 | 蔚来汽车有限公司 | A kind of automatic lane-change control method of vehicle and device |
| WO2018223890A1 (en) * | 2017-06-09 | 2018-12-13 | 蔚来汽车有限公司 | Automatic lane changing control method and device for vehicle |
| CN109050533B (en) * | 2017-06-09 | 2020-11-17 | 蔚来(安徽)控股有限公司 | Automatic lane changing control method and device for vehicle |
| CN113299096A (en) * | 2017-12-28 | 2021-08-24 | 北京百度网讯科技有限公司 | Cooperative intersection traffic control method, device and equipment |
| CN108490950A (en) * | 2018-04-23 | 2018-09-04 | 安徽江淮汽车集团股份有限公司 | A kind of lane change method and system based on virtual rail |
| CN108490950B (en) * | 2018-04-23 | 2020-07-28 | 安徽江淮汽车集团股份有限公司 | Lane changing method and system based on virtual track |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN108958242A (en) * | 2018-06-25 | 2018-12-07 | 武汉中海庭数据技术有限公司 | A kind of lane change decision assistant method and system based on high-precision map |
| CN108958242B (en) * | 2018-06-25 | 2021-12-24 | 武汉中海庭数据技术有限公司 | Lane change decision-making auxiliary method and system based on high-precision map |
| CN109345870A (en) * | 2018-09-07 | 2019-02-15 | 北京邮电大学 | The method for early warning and device for preventing vehicle collision |
| CN109345870B (en) * | 2018-09-07 | 2020-11-17 | 北京邮电大学 | Early warning method and device for preventing vehicle collision |
| CN109774712A (en) * | 2018-12-17 | 2019-05-21 | 北京汽车集团有限公司 | The method, apparatus and vehicle of vehicle control |
| CN109976334A (en) * | 2019-02-25 | 2019-07-05 | 广州文远知行科技有限公司 | Vehicle lane change method, apparatus, equipment and storage medium |
| CN109976334B (en) * | 2019-02-25 | 2022-07-12 | 广州文远知行科技有限公司 | Vehicle lane changing method, device, equipment and storage medium |
| CN110634328A (en) * | 2019-09-17 | 2019-12-31 | 重庆大学 | Lane change assisting method and system based on fusion of multi-sensor information and V2X technology |
| CN111275988A (en) * | 2020-01-20 | 2020-06-12 | 北京无限光场科技有限公司 | Vehicle turning reminding method, device, terminal and storage medium |
| CN112037366A (en) * | 2020-09-07 | 2020-12-04 | 广州勘帝德电子科技有限公司 | Automobile driving safety assisting method and system |
| CN112509377A (en) * | 2020-11-30 | 2021-03-16 | 重庆长安汽车股份有限公司 | Vehicle cooperative lane change control method based on V2V |
| CN112863249A (en) * | 2021-01-11 | 2021-05-28 | 广州小鹏自动驾驶科技有限公司 | Lane change early warning method and device for vehicle, vehicle and readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104960468A (en) | Method and device for changing lanes during traveling | |
| CN111240328B (en) | Vehicle driving safety monitoring method and device and unmanned vehicle | |
| US11092970B2 (en) | Autonomous vehicle systems utilizing vehicle-to-vehicle communication | |
| CN103465907B (en) | A kind of automotive correlation prevention device and method | |
| CN103117007B (en) | Based on vehicle location and the anti-collision early warning system of ZigBee and GPS | |
| CN104269073B (en) | A kind of reverse track based on truck traffic method for early warning of overtaking other vehicles | |
| CN104325978A (en) | Safety anti-collision early warning method based on vehicular ad-hoc network | |
| CN103303309B (en) | Rear-end collision anti-collision warning method and system | |
| CN105513391A (en) | Vehicle-mounted virtual road state display system based on vehicle infrastructure cooperative technology | |
| CN206178476U (en) | Unmanned vehicle based on high in clouds intelligent service ware | |
| CN105976640A (en) | Safety caution method, pedestrian shoes device, vehicle platform and system based on V2X communication | |
| CN105096657A (en) | Rear-end collision early warning method and system | |
| CN204055561U (en) | Vehicle safe driving caution system | |
| CN104192063B (en) | Vehicle safe driving caution system and corresponding alarming method for power | |
| CN109307877A (en) | High-precision vehicle positioning system and high-precision vehicle positioning method | |
| CN105891816A (en) | Road surface detection system and vehicle | |
| CN112673231A (en) | Method for updating an environment map, device for carrying out the method steps of the method on the vehicle side, vehicle, device for carrying out the method steps of the method on the central computer side, and computer-readable storage medium | |
| WO2021065626A1 (en) | Traffic control system, traffic control method, and control device | |
| CN103770711A (en) | Method and system for adjusting side mirror | |
| CN111508276A (en) | High-precision map-based V2X reverse overtaking early warning method, system and medium | |
| CN105824311A (en) | Vehicle automatic driving method and device | |
| CN203070551U (en) | Active collision warning system bases on Internet of Things communication | |
| CN104851320A (en) | Method and device for prompting driver | |
| CN113066303B (en) | Intelligent bus stop combined positioning system based on vehicle-road cloud cooperation | |
| CN103241243B (en) | A kind of method and apparatus determining vehicle-state |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151007 |