CN110379160A

CN110379160A - A kind of automatic lane change householder method of the vehicle of traffic intersection, system and vehicle

Info

Publication number: CN110379160A
Application number: CN201910616857.9A
Authority: CN
Inventors: 徐现昭
Original assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Motors Technology Co Ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2019-10-25

Abstract

A kind of automatic lane change householder method of the vehicle of traffic intersection, system and vehicle, this method comprises: the driving direction of the current lane where detection vehicle with whether there are the driving directions of the adjacent lane of space waste consistent；It is wherein, described that there are the adjacent lanes that the adjacent lane of space waste is the accommodation space that the vehicle is inserted into presence enough；If inconsistent, judge compared with the current lane, whether there are the adjacent lanes of space waste can faster arrive at the destination to described for lane change；If so, the adjacent lane there are space waste is determined as to want the target lane of lane change；The vehicle is controlled from the current lane lane change to the accommodation space in the target lane.Implement the embodiment of the present invention, the automatic lane change of vehicle can be controlled to there are the lanes of space waste, to improve the traffic efficiency of vehicle.

Description

A kind of automatic lane change householder method of the vehicle of traffic intersection, system and vehicle

Technical field

The present invention relates to drive ancillary technique field, and in particular to a kind of automatic lane change auxiliary square of the vehicle of traffic intersection Method, system and vehicle.

Background technique

When driving over traffic intersection, often exists and need the phenomenon that waiting in line traffic lights.In practice, it has been found that Part driver can be diverted attention when being lined up (as played mobile phone), and when front truck being caused to be started to walk, rear car is unable to fast starting follow-up, Che Yuche Between there are biggish space wastes.In addition, vehicle is stopped when waiting red light for the sake of there is also part new hand drivers for safety In the position distant apart from front truck, a vehicle can be even sometimes accommodated with the distance between front truck.As it can be seen that due to various Reason is likely to the phenomenon that there are space wastes on lane.

The traffic efficiency that space waste will lead to vehicle slows down, thus phenomena such as causing jogging, traffic congestion.Currently, mainly by The phenomenon that driver's manual identified space waste, and can judge lane change.However, this mode extremely relies on the warp of driver It tests.Especially in vehicle driving to traffic intersection, surface conditions are relative complex.Driver is difficult to judge under complicated road conditions Whether can lane change, therefore be more prone to selection not lane change, lead to not make full use of the space being wasted on lane, reduce The traffic efficiency of vehicle.

Summary of the invention

The embodiment of the invention discloses the vehicle lane change householder methods and system of a kind of traffic intersection, can control vehicle certainly Dynamic lane change is to there are the lanes of space waste, to improve the traffic efficiency of vehicle.

First aspect of the embodiment of the present invention discloses a kind of automatic lane change householder method of vehicle of traffic intersection, the method packet It includes:

The driving direction of current lane and the driving direction of the adjacent lane there are space waste where detection vehicle are It is no consistent；Wherein, described there are the adjacent lane of space waste is in the presence of the adjacent of the accommodation space for being enough inserted into the vehicle Lane；

If inconsistent, judge compared with the current lane, lane change to the adjacent lane there are space waste is It is no faster to arrive at the destination；

If so, the adjacent lane there are space waste is determined as to want the target lane of lane change；

The vehicle is controlled from the current lane lane change to the accommodation space in the target lane.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the method also includes:

If the driving direction of the current lane with described there are the driving direction of the adjacent lane of space waste is consistent, It executes and described the adjacent lane there are space waste is determined as the step of wanting the target lane of lane change.

As an alternative embodiment, in first aspect of the embodiment of the present invention, working as where the detection vehicle The driving direction in preceding lane with whether there are the driving directions of the adjacent lane of space waste consistent, comprising:

The road marking that the camera of the road surface identification information and the vehicle that are provided according to digital navigation map takes Know that information determines the first driving direction of the current lane and described there are the second rows of the adjacent lane of space waste Sail direction；

The road surface identification information provided using the road V2I equipment of the traffic intersection to first driving direction and Second driving direction is modified；

If revised first driving direction and revised second driving direction are inconsistent, described in judgement The driving direction of current lane with described there are the driving direction of the adjacent lane of space waste is inconsistent.

As an alternative embodiment, the judgement works as front truck with described in first aspect of the embodiment of the present invention Road is compared, and whether there are the adjacent lanes of space waste can faster arrive at the destination to described for lane change, comprising:

The first signal lamp waiting time and the institute of the current lane of the V2I equipment offer of the traffic intersection are provided State that the V2I equipment of traffic intersection provides described there are the second signal lamp waiting time of the adjacent lane of space waste；

Traveling is obtained on the current lane to the first running time needed for destination and lane change to the presence It travels after the adjacent lane of space waste to the second running time needed for the destination；

Determine that the vehicle works as front truck described according to the first signal lamp waiting time and first running time It travels on road to first total used time of destination, and according to the second signal lamp waiting time and second running time Determine that the vehicle was travelled on the adjacent lane there are space waste to second total used time of the destination；

If second total used time was less than for described first total used time, the lane change to institute compared with the current lane is determined State that there are the adjacent lanes of space waste can faster reach the destination.

As an alternative embodiment, the acquisition works as front truck described in first aspect of the embodiment of the present invention It is travelled after traveling to the first running time needed for destination and lane change to the adjacent lane there are space waste on road Second running time needed for the destination, comprising:

It is travelled according to the jam situation of the current lane and on the current lane to the driving path of destination It calculates and travels on the current lane to the first running time needed for destination；

According to described there are the jam situation of the adjacent lane of space waste and there are the adjacent of space waste described It travels on lane and travels after calculating lane change to the adjacent lane there are space waste to the driving path of destination to described Second running time needed for destination.

As an alternative embodiment, in first aspect of the embodiment of the present invention, there are spaces by described described The adjacent lane of waste is determined as after the target lane that will want lane change, the method also includes:

Judge whether the current lane meets lane change condition；The lane change condition includes: traveling in the current lane On, this lane preceding vehicle before the vehicle at a distance from the vehicle be greater than preset first distance threshold value；With/ Or detect the behavior slipped after described lane preceding vehicle is not present；

If the current lane meets the lane change condition, executes the control vehicle and become from the current lane The step of accommodation space in road to the target lane.

As an alternative embodiment, judging the current lane in first aspect of the embodiment of the present invention After meeting the lane change condition, and in the control vehicle from the current lane lane change to the target lane Before the accommodation space, the method also includes:

Detection travels target lane front vehicle on the target lane, after the vehicle when preset With the presence or absence of the behavior that starting is forward in long；If not, executing the control vehicle from the current lane lane change to institute The step of stating the accommodation space in target lane；

Alternatively, detection travels the row of target lane front vehicle on the target lane, after the vehicle Speed is sailed, and is prejudged in the vehicle according to the travel speed from the current lane lane change to the process in the target lane In whether can collide with target lane front vehicle；If not, executing the control vehicle from described current Lane to the target lane the accommodation space the step of.

During the vehicle is from the current lane lane change to the target lane, if detecting traveling in institute State it is on target lane, the target lane front vehicle after the vehicle at a distance from the vehicle be less than preset second Distance threshold, terminates the lane change behavior of the vehicle, and controls the vehicle and be maintained on the current lane and travel.

During the vehicle is from the current lane lane change to the target lane, other vehicles have been detected whether The target area in the target lane is inserted into from the adjacent second lane in the target lane；The adjacent second lane be with The target lane is adjacent and is different from another lane of the current lane；After the target area is located at the target lane Traveling-position before square vehicle, and when including the vehicle lane change to the target lane；

If so, terminate the lane change behavior of the vehicle, and controls the vehicle and be maintained on the current lane and travel.

Judge whether separate the current lane and the lane line in the target lane indicates to allow from the current lane Lane change is to the target lane；

If so, executing the control vehicle from the current lane lane change to the receiving in the target lane The step of space.

Prompt information is exported by the human-computer interaction interface of the vehicle；The prompt information is used to that user to be prompted to confirm No carry out lane change；

If user carries out lane change for the feedback information instruction confirmation of prompt information input, the control institute is executed State the step of vehicle is from the current lane lane change to the accommodation space in the target lane.

As an alternative embodiment, in first aspect of the embodiment of the present invention, the control vehicle from After the current lane lane change to the accommodation space in the target lane, the method also includes:

When the vehicle is when target lane uplink is sailed, the vehicle and traveling are controlled on the target lane , target lane preceding vehicle before the vehicle keep preset safe distance.

Second aspect of the embodiment of the present invention discloses a kind of automatic lane change auxiliary system of vehicle of traffic intersection, comprising:

Detection unit, for detecting the driving direction of the current lane where vehicle and there are the adjacent lanes of space waste Driving direction it is whether consistent；Wherein, described there are the adjacent lane of space waste is in the presence of the appearance for being enough inserted into the vehicle Receive the adjacent lane in space；

Judging unit, for judging the driving direction of the current lane in the detection unit and described there are spaces When the driving direction of the adjacent lane of waste is inconsistent, judge compared with the current lane, lane change to it is described there are space wave Whether the adjacent lane of expense can faster arrive at the destination；

Determination unit, for judging that described there are the adjacent lanes of space waste faster to arrive in the judging unit When up to destination, the adjacent lane there are space waste is determined as to want the target lane of lane change；

Control unit, for controlling the vehicle from the current lane lane change to the receiving in target lane sky Between.

The third aspect of the embodiment of the present invention discloses the automatic lane change auxiliary system of vehicle of another traffic intersection, comprising:

Vehicle, cloud server and the road V2I equipment for being mounted on traffic intersection；

The vehicle, for calling the digital navigation map of the cloud server storage, to obtain the electronic navigation The road surface identification information that map provides；And receive the road surface identification information that the road V2I equipment provides；

And information of road surface, the digital navigation map for being taken according to the camera of the vehicle provide The road surface identification information that road surface identification information and the road V2I equipment provide, detects the row of the current lane where vehicle It sails direction and whether there are the driving directions of the adjacent lane of space waste consistent；It is wherein, described that there are the adjacent of space waste Lane is the adjacent lane in the presence of the accommodation space for being inserted into the vehicle enough；

The road V2I equipment is also used to send the traffic lights waiting time of traffic intersection to the vehicle；

The vehicle, be also used to the driving direction for judging the current lane with described there are the adjacent of space waste When the driving direction in lane is inconsistent, according to the road V2I equipment send the traffic lights waiting time judgement with it is described Current lane is compared, and whether there are the adjacent lanes of space waste can faster arrive at the destination to described for lane change；And sentencing It is disconnected go out lane change to it is described can faster be arrived at the destination there are the adjacent lane of space waste when, by described there are space waste Adjacent lane is determined as that the target lane of lane change will be wanted, and controls vehicle from the current lane lane change to the target lane The accommodation space.

Fourth aspect of the embodiment of the present invention discloses a kind of vehicle, and the vehicle includes traffic road as claimed in claim 13 The automatic lane change auxiliary system of vehicle of mouth.

The 5th aspect of the embodiment of the present invention discloses a kind of car-mounted computer characterized by comprising

It is stored with the memory of executable program code；

The processor coupled with the memory；

The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the On the one hand the automatic lane change householder method of vehicle of any one of disclosed traffic intersection.

The 5th aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein The computer program makes computer execute the vehicle of the disclosed any one traffic intersection of first aspect of the embodiment of the present invention certainly Dynamic lane change householder method.

Compared with prior art, the embodiment of the present invention has the advantages that

In the adjacent lane for detecting the presence of space waste, if current lane and above-mentioned adjacent vehicle where vehicle The driving direction in road is inconsistent, and calculating can be arrived at the destination faster in which lanes.If travelled on adjacent lane It can faster arrive at the destination, control and travelled in vehicle lane change to adjacent lane.As it can be seen that implementing the embodiment of the present invention, Ke Yi In the case that the multilane of traffic intersection indicates respectively different driving directions, lane change is helped a user decide whether, while keeping away as far as possible Exempting from lane change causes to increase running time, can both make full use of the space on lane, improves traffic intersection vehicle pass-through efficiency, also The time that vehicle arrives at the destination can be shortened.

Detailed description of the invention

It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.

Fig. 1 is a kind of exemplary diagram of the sensing system of vehicle disclosed by the embodiments of the present invention；

Fig. 2 is a kind of process signal of the automatic lane change householder method of vehicle of traffic intersection disclosed by the embodiments of the present invention Figure；

Fig. 3 is that disclosed by the embodiments of the present invention a kind of there are the exemplary diagrams of the adjacent lane of space waste；

Fig. 4 is a kind of exemplary diagram of traffic intersection disclosed by the embodiments of the present invention；

Fig. 5 is the process signal of the automatic lane change householder method of vehicle of another traffic intersection disclosed by the embodiments of the present invention Figure；

Fig. 6 is a kind of exemplary diagram of multiple-lane road disclosed by the embodiments of the present invention；

Fig. 7 is a kind of structural representation of the automatic lane change auxiliary system of vehicle of traffic intersection disclosed by the embodiments of the present invention Figure；

Fig. 8 is the structural representation of the automatic lane change auxiliary system of vehicle of another traffic intersection disclosed by the embodiments of the present invention Figure.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional Ground further includes the other step or units intrinsic for these process, methods, product or equipment.

The embodiment of the invention discloses a kind of automatic lane change householder method of the vehicle of traffic intersection, system and vehicles, can The automatic lane change of vehicle is controlled to there are the lanes of space waste, to improve the traffic efficiency of vehicle.

In order to better illustrate the present invention the automatic lane change householder method of the vehicle of traffic intersection disclosed in embodiment, system and The sensing system of vehicle, a kind of vehicle being applicable in first the embodiment of the present invention is introduced.It is also referring to Fig. 1, Fig. 1 A kind of exemplary diagram of the sensing system of vehicle disclosed by the embodiments of the present invention.

As shown in Figure 1, the sensing system includes the forward direction radar being made of preposition radar 17 and front camera 27 With camera subsystem；Wherein, forward direction radar and camera subsystem are used to detect the forward region of right ahead, specifically may be used Be in this lane preceding vehicle in same lane with vehicle to detect, including detect between vehicle and this lane preceding vehicle away from From, detect this lane preceding vehicle and whether there is after slip behavior etc..

The sensing system further include: by right side anterior angle radar 10, right side anterior angle camera 20, left side anterior angle radar 16 with And radar and camera subsystem before the side of the composition of right side anterior angle camera 26；Wherein, radar and camera subsystem are used before side Side forefoot area in front of detection vehicle side specifically can detecte and travel adjacent vehicle on adjacent lane, before vehicle Road front vehicles, thus the phenomenon that helping to judge on adjacent lane with the presence or absence of space waste；

The sensing system further include: by right side relief angle radar 12, right side relief angle camera 22, left side relief angle radar 14, Radar and camera subsystem behind the side for making camera 24 form behind right side；Wherein, radar and camera subsystem are used for behind side The side rear region for detecting vehicle side rear specifically can detecte and travel adjacent lane on adjacent lane, after vehicle Front vehicle, to help to obtain the motion information and driving intention information of adjacent lane front vehicle, to provide blind area inspection Survey (Blind Spot Detection, BSD) and the early warning of vehicle fast approaching (Close Vehicle Warning, CVW) function Energy.The detection of the blind area BSD carries out pre- when can there are other vehicles to enter in detecting the Driver Visions blind area such as reversing face rear Alert, CVW function can detect front vehicle fast approaching, there is progress and early warning when colliding possible；

The sensing system further include: by right side side side radar 11, right side side side camera 21, left side side side radar 15, The positive side Fanglei that left side side side camera 25 forms reaches and camera subsystem；Wherein, positive side Fanglei reaches and camera subsystem For detecting the positive side region of the positive side of vehicle, the vehicle driving that specifically can detecte adjacent lane is intended to, and radar before opposite side And the testing result of radar and camera subsystem is supplemented behind camera subsystem and side；

The sensing system further include: the dead astern radar that is made of dead astern radar 13, dead astern camera 23 and take the photograph As chieftain's system；Wherein, dead astern radar and camera subsystem are used to detect the positive rear region in vehicle dead astern, specifically can be with Detection is in this lane front vehicle in same lane with vehicle.

The sensing system of vehicle shown in FIG. 1 detects vehicle to surrounding enviroment, so as to judge Adjacent lane whether there is space waste out.The following contents is to the automatic lane change of the vehicle of traffic intersection disclosed by the embodiments of the present invention Householder method, system and vehicle are described in detail respectively.

Embodiment one

Referring to Fig. 2, Fig. 2 is a kind of automatic lane change householder method of vehicle of traffic intersection disclosed by the embodiments of the present invention Flow diagram.Wherein, the automatic lane change householder method of the vehicle of traffic intersection shown in Fig. 2 is suitable for automatic lane change auxiliary system System, the automatic lane change auxiliary system can run on vehicle electronic control unit (Electronic Control Unit, ECU), the vehicle electronic devices such as car-mounted computer or device, the embodiment of the present invention is without limitation.As shown in Fig. 2, the traffic intersection The automatic lane change householder method of vehicle may comprise steps of:

201, automatic lane change auxiliary system detects the driving direction of the current lane where vehicle and there are space wastes Whether the driving direction of adjacent lane is consistent；If not, executing step 202；If so, directly executing step 203.

In embodiments of the present invention, there are the accommodation spaces that the adjacent lane of space waste is in the presence of insertion vehicle enough Adjacent lane.It is a kind of showing there are the adjacent lane of space waste disclosed by the embodiments of the present invention also referring to Fig. 3, Fig. 3 Example diagram.

There is the case where shunting in traffic intersection vehicle, different lanes may correspond to different driving directions.Please join together Fig. 4 is read, Fig. 4 is a kind of exemplary diagram of traffic intersection disclosed by the embodiments of the present invention.As shown in figure 4, may be deposited in traffic intersection In at least following several lanes: Through Lane, left turn lane, right-turn lane and turn lane.It is assumed that vehicle From vehicle traveling in Through Lane, there are the Through Lane that the adjacent lane of space waste is left side, the travelings of lane change fore-aft vehicle Direction is consistent, then straight trip step 203 is to trigger vehicle lane change；Assuming that travelling from vehicle in Through Lane, there are space wastes Adjacent lane is the right-turn lane on right side, and in the case where following traffic rules, the driving direction of lane change fore-aft vehicle is inconsistent, Following steps 202 is first carried out, so to judge whether lane change.

In addition, as an alternative embodiment, vehicle can identify what the camera being installed on vehicle took Road surface identification information, to identify the driving direction of current lane and there are the traveling sides of the adjacent lane of space waste To；

Optionally, it can also can be assisted in vehicle equipped with digital navigation map, digital navigation map for automatic lane change System provides the road surface identification information in each lane, so that vehicle can determine the driving direction in each lane.

It is further optional, road V2I equipment (V2I, the Vehicle to being mounted near traffic intersection Infrastructure, vehicle-road infrastructure) car networking communication link can be established with each trolley of the traveling on road It connects.By car networking, road V2I equipment can send the road surface identification information in each lane to vehicle, so that vehicle can be true Make the driving direction in each lane.

202, automatic lane change auxiliary system judges compared with current lane, and lane change to the adjacent lane there are space waste is It is no faster to arrive at the destination；If so, executing step 203；If not, executing step 205.

In embodiments of the present invention, the traveling of the driving direction if there is the adjacent lane of space waste and current lane Direction is inconsistent, may change the original driving path of vehicle after lane change, and vehicle needs to travel according to new driving path.

As an alternative embodiment, can will carry out vehicle when driving according to original driving path reaches purpose The used time on ground and it will carry out the used time that vehicle arrives at the destination when driving according to new driving path and compare；If according to Used time needed for new driving path traveling is shorter, and lane change is to there are the adjacent lanes of space waste can faster reach purpose Ground, therefore execute step 203 and trigger vehicle lane change；If can not faster be arrived at the destination according to new driving path traveling, Vehicle is not necessarily to execute lane change operation, therefore executes step 204 and vehicle is continually maintained on current lane travel.

203, the adjacent lane that space waste will be present in automatic lane change auxiliary system is determined as that the target lane of lane change will be wanted.

204, automatic lane change auxiliary control system vehicle from current lane lane change to the accommodation space in target lane in.

In embodiments of the present invention, it is to be understood that when vehicle refers to target vehicle from current lane lane change, should be inserted into Into the accommodation space for being large enough to hold vehicle, to reduce the vehicle collision risk that lane change may cause.

205, automatic lane change auxiliary control system vehicle, which is maintained on current lane, travels.

As it can be seen that in the method depicted in fig. 2, automatic lane change auxiliary system can be respectively referred in the multilane of traffic intersection In the case where showing different driving directions, lane change is helped a user decide whether, while lane change being avoided to cause to increase running time as far as possible, Both the space on lane can have been made full use of, traffic intersection vehicle pass-through efficiency has been improved, vehicle can also be shortened and arrived at the destination Time.

Embodiment two

Referring to Fig. 5, Fig. 5 is the automatic lane change householder method of vehicle of another traffic intersection disclosed by the embodiments of the present invention Flow diagram.As shown in figure 5, the automatic lane change householder method of the vehicle of the traffic intersection may comprise steps of:

501, automatic lane change auxiliary system detects the driving direction of the current lane where vehicle and there are space wastes Whether the driving direction of adjacent lane is consistent；If not, executing step 502；If so, directly executing step 503.

In embodiments of the present invention, automatic lane change auxiliary system can merge digital navigation map, camera and road The information that V2I equipment provides judge the driving direction of current lane with there are the adjacent lane of space waste there are directions to be It is no consistent.Specifically, the specific embodiment of step 501 may comprise steps of:

5011, the camera shooting for the road surface identification information and vehicle that automatic lane change auxiliary system is provided according to digital navigation map The road surface identification information that head takes determines the first driving direction of current lane and the adjacent lane there are space waste The second driving direction；

5012, the road surface identification information that automatic lane change auxiliary system is provided using the road V2I equipment of the traffic intersection First driving direction and the second driving direction are modified；

5013, automatic lane change auxiliary system carries out revised first driving direction and revised second driving direction Comparison determines the traveling of current lane if the first driving direction of revised institute and revised second traveling side are inconsistent Direction and the driving direction of the adjacent lane there are space waste are inconsistent.

Digital navigation map and road V2I equipment are likely due to data and update the reasons such as not in time to cause to provide mistake Road surface identification information, camera is likely due to that road surface identification, the more low reason of image recognition algorithm precision can not be taken Cause to provide the road surface identification of mistake, and the letter of fusion digital navigation map, camera and the offer of road V2I equipment is provided Breath, allows digital navigation map, camera, road V2I equipment to be mutually redundant backup, automatic lane change auxiliary system does not use The recognition accuracy to each driveway travel directions can be improved in single data source, improves system reliability.

502, automatic lane change auxiliary system judges compared with current lane, and lane change to the adjacent lane there are space waste is It is no faster to arrive at the destination；If so, executing step 503；If not, executing step 50X.

In embodiments of the present invention, road V2I equipment is to vehicle in addition to that can provide the road surface identification information in each lane, The information of traffic lights (such as traffic lights) in traffic intersection can also be provided to vehicle.Referring to Figure 4 together, road in Fig. 4 V2I equipment 01 can provide road surface identification information to vehicle, and road V2I equipment 02 can provide traffic lights letter to vehicle Breath.

As an alternative embodiment, judge lane change to there are the adjacent lanes of space waste whether can be faster When arriving at the destination, in addition to the difference of possible driving path when driving can be considered on different lanes, it is also contemplated that The time of traffic lights is waited on each lane.Specifically, the specific embodiment of step 502 may comprise steps of:

5021, the first signal lamp of the current lane that the V2I equipment that automatic lane change auxiliary system obtains traffic intersection provides Waiting time and above-mentioned V2I equipment provide there are the second signal lamp waiting time of the adjacent lane of space waste；

It is understood that partially there is the different traffic intersection of the corresponding driving direction of multilane and each lane, It can generally let pass in batches according to driving direction.Therefore, different lanes may correspond to different traffic lights, so as to cause vehicle Need time for waiting also different.The first above-mentioned signal lamp waiting time refers to the corresponding traffic lights of current lane from working as The preceding moment to elapsed time at the time of jumping to release status (such as green light)；The above-mentioned second signal lamp waiting time, which refers to, deposits In the adjacent lane of space waste corresponding traffic lights from current time to being passed through at the time of jumping to release status Time.

For example, if current lane and be all Through Lane there are the adjacent lane of space waste, current time is straight The state of row signal lamp is release status, then the first signal lamp waiting time and second signal lamp waiting time all can be 0s；If current lane is Through Lane, the state of current time straight trip signal lamp is forbidden state, also needs t1s is variable to shift to Release status, then the first signal lamp waiting time was t1s；Adjacent lane if there is space waste is left turn lane, left The state of transfering the letter signal lamp is release status, then the second signal lamp waiting time can be 0s；

5022, automatic lane change auxiliary system, which is obtained, travels on current lane to the first running time needed for destination, And it travels after lane change to the adjacent lane there are space waste to the second running time needed for destination；

In embodiments of the present invention, automatic lane change auxiliary system can comprehensively consider the jam situation and change in each lane The travel distance of different driving paths travels to determine to running time needed for destination before and after road.Specifically, step 5022 specific embodiment may comprise steps of:

S1, automatic lane change auxiliary system are travelled according to the jam situation of current lane and on current lane to destination Driving path calculate on current lane traveling to the first running time needed for destination；

S2, automatic lane change auxiliary system are according to there are the jam situation of the adjacent lane of space waste and there are spaces It travels on the adjacent lane of waste and is travelled after calculating lane change to the adjacent lane there are space waste to the driving path of destination Second running time needed for destination.

5023, automatic lane change auxiliary system determines that vehicle is being worked as according to the first signal lamp waiting time and the first running time Preceding lane uplink was sailed to first total used time of destination, and was determined according to second signal lamp waiting time and the second running time Vehicle was travelled on the adjacent lane there are space waste to second total used time of destination；

5024, automatic lane change auxiliary system compares first total used time and second total used time, if second total used time is less than the One total used time determined compared with current lane that lane change was to there are the adjacent lanes of space waste faster to arrive at the destination.

That is, in embodiments of the present invention, when calculating vehicle arrives at the destination the required time, can integrate and examine Consider the distance of different driving paths, different lane needs to wait the time of traffic lights and the jam situation in different lanes, So that the calculated time is closer to the time required when vehicle actual travel, so as to more accurately judge to exist Whether the adjacent lane of space waste is more preferably lane.

503, the adjacent lane that space waste will be present in automatic lane change auxiliary system is determined as that the target lane of lane change will be wanted.

504, automatic lane change auxiliary system judges whether that target lane can be converted into from current lane；If so, executing Step 505；If not, executing step 508.

In embodiments of the present invention, automatic lane change auxiliary system judges whether that target lane can be converted into from current lane Condition can include but is not limited to:

1) judge the lane line for separating current lane and the target lane whether indicate to allow from current lane lane change to Target lane；Such as lane line be dotted line when, instruction allow from current lane lane change to target lane；

2) judge whether current lane meets lane change condition；Wherein, lane change condition can include but is not limited to: traveling is being worked as It is on preceding lane, this lane preceding vehicle before vehicle at a distance from vehicle be greater than preset first distance threshold value；And/or Detect the behavior slipped after this lane preceding vehicle is not present；

3) detection travels target lane front vehicle on the target lane, after the vehicle preset With the presence or absence of the behavior that starting is forward in duration；

Wherein, as an alternative embodiment, vehicle and traveling can be built between other vehicles of vehicle-surroundings Stand vehicle-to-vehicle communication (Vehicle to Vehicle, V2V).Based on V2V communication network, each trolley can driving on the road To share driving information mutually, for example to other vehicles sends from the current travel speed of vehicle or receive what other vehicles were sent Starting or parking notice etc..Therefore, vehicle can receive the starting notice of target lane front vehicle transmission；Optionally, it rises It may include that target lane front vehicle executes the information such as time and the starting speed of driveaway operation in step notice；According to starting Notice, vehicle may determine that target lane front vehicle in preset duration with the presence or absence of the behavior that starting is forward.In addition, can To assume that target lane front vehicle starts to walk to collide with from vehicle after preset duration, therefore above-mentioned preset duration It can be determined according to current target lane front vehicle with from the distance between vehicle.

4) detection travels the travel speed of target lane front vehicle on target lane, after vehicle, and root Whether can be with target lane front vehicle during vehicle is from current lane lane change to target lane according to travel speed anticipation It collides.

Specifically, the travel speed of travel speed, target lane front vehicle based on current time vehicle and current The distance between moment vehicle-to-target lane front vehicle, it can be determined that go out whether vehicle-to-target lane front vehicle can be sent out Raw collision.Wherein, the travel speed of target lane front vehicle can be according to the side back radars and camera subsystem of vehicle Detection obtains, and can also be sent to vehicle by V2V communication by target lane front vehicle.

Based on condition 1) judge that lane line instruction allows lane change, it is based on condition 2) judge whether current lane meets change Road condition is based on condition 3) judging target lane front vehicle, there is no the behavior that starting is forward, bases in preset duration In condition 4) judge to collide with target lane front vehicle during lane change, then step can be continued to execute 506, so that vehicle lane change.

It is understood that automatic lane change auxiliary system may determine that above-mentioned condition 1)~condition 4) in part or The condition of full terms, judgement is more, and lane change safety is higher.

In addition, if judging above-mentioned condition 2), condition 3) and/or condition 4), as an alternative embodiment, from Dynamic lane change auxiliary system can first Rule of judgment 2), when judging that lane line instruction allows lane change, control vehicle is opened and is become Road turns to corresponding turn signal, and judges above-mentioned condition 3) and/or condition 4).

505, automatic lane change system exports prompt information by the human-computer interaction interface of vehicle, and receives user for prompt The feedback information of information input.

In embodiments of the present invention, the human-computer interaction interface of vehicle can be the interactive interface of vehicle-mounted big screen equipment, or It is the interactive interface etc. of vehicle intelligent individual assistant.Prompt information is for prompting user to be confirmed whether to carry out lane change.Prompt information It can be exported by modes such as text, voice, images, correspondingly, user can also pass through voice, key, handwriting input, keyboard The modes input feedback information such as input, gesture, the embodiment of the present invention is without limitation.

506, whether the above-mentioned feedback information of automatic lane change system identification indicates that confirmation carries out lane change；If so, executing step Rapid 507；If not, executing step 508.

In embodiments of the present invention, automatic lane change system exported when lane change can be carried out by judging prompt information for Family confirmation, is finally subject to the decision of user.Optionally, in other possible embodiments, automatic lane change system can also be with Step 506~step 507 is not executed, executes step 508 directly when lane change can be carried out by judging to control vehicle lane change.

507, automatic lane change auxiliary control system vehicle from current lane lane change to the accommodation space in target lane in, and hold Row step 509.

In embodiments of the present invention, following operation can also be performed during controlling vehicle lane change:

If detect traveling on target lane, in the target lane front vehicle after vehicle at a distance from vehicle Less than preset second distance threshold value, the lane change behavior of vehicle is terminated, and controls vehicle and is maintained on current lane and travel.Its In, second distance threshold value can be arranged according to the safe distance between vehicle when normal driving.Such as target lane front vehicle and certainly The distance of vehicle is less than second distance threshold value, it may occur however that collision accident, therefore lane change behavior is terminated, to improve traffic safety.

Alternatively, detecting whether that other vehicles are inserted into the target area in target lane from the adjacent second lane in target lane Domain；If so, terminating the lane change behavior of vehicle, and controls vehicle and be maintained on current lane and travel.

Wherein, adjacent second lane is another lane that is adjacent with target lane and being different from current lane；Target area Traveling-position before the front vehicle of target lane, and when including vehicle lane change to target lane.Also referring to figure 6, Fig. 6 be a kind of exemplary diagram of multiple-lane road disclosed by the embodiments of the present invention.As shown in fig. 6, to reduce the hair of collision accident It is raw, when being inserted into target position there are vehicle on detecting adjacent second lane, lane change behavior is terminated, to improve traffic safety.

It is understood that terminating the lane change behavior of vehicle can specifically include: it will be travelled in Vehicular turn current lane, And extinguish the turn signal having turned on.

As an alternative embodiment, if detecting that other vehicles are inserted from the adjacent second lane in target lane Enter to the target area in target lane, and in the lane change behavior for terminating vehicle, control vehicle, which is maintained on current lane, to be travelled Later, following steps can also be performed:

Whether other vehicles that detection is inserted into above-mentioned target area from adjacent second lane have traveled past vehicle side Region；It whether there is space waste on adjacent lane if so, detecting again, and there are spaces on detecting adjacent lane When waste, step 501 is executed.

508, automatic lane change auxiliary control system vehicle, which is maintained on current lane, travels.

509, when vehicle is when target lane uplink is sailed, automatic lane change auxiliary control system vehicle and traveling are in target On lane, before vehicle target lane preceding vehicle keeps preset safe distance.

In embodiments of the present invention, control vehicle keeps certain spacing (i.e. safe distance) to travel after lane change is completed, Traffic safety is further increased, and reduces the driving fatigue of driver.

As it can be seen that in the method described in Fig. 5, the case where automatic lane change auxiliary system can reduce space waste on lane Occur, improves vehicle pass-through efficiency；It may also help in user and judge whether to lane change under the premise of following traffic rules, with It reduces pressure and realizes the unlawful practices such as lane change.Furthermore, it is possible to select optimal lane for user, with shorten arrive at the destination when Between.Further, merging the information that digital navigation map, camera and road V2I equipment provide can be improved to each lane The recognition accuracy of driving direction improves system reliability；In conjunction with the distance of driving path, the jam situation in each lane and each The traffic lights waiting time in lane can more accurately judge whether there are the adjacent lane of space waste be more preferably Lane.Further, after judging to need lane change, and before actually executing lane change, judged by a variety of conditions Whether can lane change, lane change safety can be improved；During lane change, if detecting may crash, Lane change behavior is terminated, traffic safety is further increased.After lane change completion, control vehicle keeps certain spacing to travel, can To reduce the driving fatigue of driver.

Embodiment three

Referring to Figure 7 together, Fig. 7 is a kind of vehicle automatic lane change auxiliary system of traffic intersection disclosed by the embodiments of the present invention The structural schematic diagram of system.As shown in fig. 7, the automatic lane change auxiliary system of the vehicle may include:

Detection unit 701, for detecting the driving direction of the current lane where vehicle and there are the adjacent of space waste Whether the driving direction in lane is consistent；Wherein, there are the receiving skies that the adjacent lane of space waste is in the presence of insertion vehicle enough Between adjacent lane；

Judging unit 702, for judging the driving direction of current lane in detection unit 701 and there are space wastes When the driving direction of adjacent lane is inconsistent, judge compared with the current lane, lane change is to there are the adjacent vehicles of space waste Whether road can faster arrive at the destination；

Determination unit 703, for judging that there are the adjacent lanes of space waste faster to reach in judging unit 702 When destination, the adjacent lane that space waste will be present is determined as that the target lane of lane change will be wanted；

Control unit 704, for controlling vehicle from current lane lane change to target lane.

In addition, optional, above-mentioned determination unit 703, can be used for judging current lane in detection unit 701 When driving direction is consistent with there are the driving direction of the adjacent lane of space waste, the adjacent lane that space waste will be present is determined For will lane change target lane；

It is understood that above-mentioned control unit 704, can be also used for judging that there are spaces in judging unit 702 When the adjacent lane of waste can not be arrived at the destination faster, control vehicle is maintained at traveling in current lane.

As an alternative embodiment, detection unit 701 is specifically used for: the road surface provided according to digital navigation map The road surface identification information that the camera of identification information and vehicle takes determine current lane the first driving direction and There are the second driving directions of the adjacent lane of space waste；The road surface identification provided using the road V2I equipment of traffic intersection Information is modified the first driving direction and the second driving direction；If revised first driving direction with it is revised Second driving direction is inconsistent, determine the driving direction of current lane with there are the driving directions of the adjacent lane of space waste not Unanimously.

As another optional embodiment, determination unit 703 specifically can be used for:

1, the first signal lamp waiting time and the traffic intersection of the current lane of the V2I equipment offer of traffic intersection are provided V2I equipment provide there are the second signal lamp waiting time of the adjacent lane of space waste；

2, it is unrestrained to the first running time needed for destination and lane change to there are spaces to obtain the traveling on current lane It travels after the adjacent lane taken to the second running time needed for destination；

3, determine that vehicle travels on current lane to purpose according to the first signal lamp waiting time and the first running time The total used time of the first of ground, and determine vehicle there are space wastes according to second signal lamp waiting time and the second running time Adjacent lane on traveling to destination second total used time；

If 4, second total used time was less than for described first total used time, determine compared with current lane, lane change is to there are spaces The adjacent lane of waste being capable of the faster described destination.

Wherein, optionally, determination unit 703 is obtained travels to needed for destination first when driving on current lane Between and lane change to the adjacent lane there are space waste after traveling to the second running time needed for destination mode it is specific It can be with are as follows:

The driving path calculating travelled according to the jam situation of current lane and on current lane to destination is being worked as Preceding lane uplink is sailed to the first running time needed for destination；

According to there are the jam situation of the adjacent lane of space waste and there are the adjacent lane uplinks of space waste It sails and travels after calculating lane change to the adjacent lane there are space waste to the driving path of destination to needed for the destination Second running time.

That is, considering the jam situation in lane and travelling to the distance of the driving path of destination.

As another optional embodiment, above-mentioned control unit 704 determines target lane in determination unit 703 Later, it and before executing control vehicle from current lane lane change to the operation in target lane, can be also used for executing following One of operation is a variety of:

1, judge the lane line for separating current lane and the target lane whether indicate to allow from current lane lane change to Target lane；

2, judge whether current lane meets lane change condition；Lane change condition include: traveling on current lane, in vehicle Previous this lane preceding vehicle is greater than preset first distance threshold value at a distance from vehicle；And/or it detects in front of this lane The behavior that vehicle slips after being not present；

3, detection traveling on target lane, in the target lane front vehicle after vehicle be in preset duration It is no to there is the forward behavior of starting；

4, detection travels the travel speed of target lane front vehicle on target lane, after vehicle, and root Whether can be with target lane front vehicle during vehicle states target lane from current lane lane change according to travel speed anticipation It collides；

5, prompt information is exported by the human-computer interaction interface of vehicle, and detects user for the anti-of prompt information input Feedforward information refers to whether show that confirmation carries out lane change；Wherein, the prompt information is for prompting user to be confirmed whether to carry out lane change；

If the judgement result of above-mentioned operation 1, operation 2 or operation 5 is when being, alternatively, above-mentioned operation 3 or operation 4 Judgement result be it is no when, control unit 704 can trigger execution control vehicle from current lane lane change to the behaviour in target lane Make.

Further alternative, control unit 704 is during controlling vehicle from current lane lane change to target lane, also It can be used for detecting whether target lane front vehicle is less than preset second distance threshold value at a distance from vehicle；And/or it is used for Detect whether that other vehicles are inserted into the target area in target lane from the adjacent second lane in target lane；

And it can be also used for detecting target lane front vehicle at a distance from vehicle less than preset second distance When threshold value, and/or in the target area for detecting other vehicles from the adjacent second lane in target lane and being inserted into target lane When domain, the lane change behavior of vehicle is terminated, and controls vehicle and is maintained on current lane and travel.

More optional, control unit 704 is completed in vehicle lane change, when uplink is sailed in target lane, controls vehicle Preset safe distance is kept with target lane preceding vehicle on target lane, before vehicle is travelled.

In conclusion implementing the automatic lane change auxiliary system of vehicle of traffic intersection as shown in Figure 7, it is possible to reduce on lane The case where space waste, occurs, and improves the traffic efficiency of vehicle；It may also help in user to sentence under the premise of following traffic rules It is disconnected whether to carry out lane change, the unlawful practices such as lane change are realized to reduce to press；Optimal lane can also be selected for user, to shorten to Up to the time of destination.In addition, implement the automatic lane change auxiliary system of vehicle of traffic intersection as shown in Figure 7, both can by with Family is finally confirmed whether to execute lane change operation, can also confirm without user and directly execute lane change operation.Before lane change, by more Kind of condition judge whether can lane change, to improve lane change safety；During lane change, if detecting may collide Accident then terminates lane change behavior, further increases traffic safety.After lane change completion, control vehicle keeps certain spacing Traveling, it is possible to reduce the driving fatigue of driver.

Example IV

It is the vehicle automatic lane change auxiliary system of another traffic intersection disclosed by the embodiments of the present invention also referring to 8, Fig. 8 The structural schematic diagram of system.As shown in figure 8, the automatic lane change auxiliary system of the vehicle may include:

Vehicle 801, cloud server 802, road V2I equipment 803；It can lead between vehicle 801 and cloud server 802 It crosses the mobile communications networks such as 5G, 4G to be communicatively coupled, or is attached by cordless communication networks such as Wi-Fi；Road V2I It can be communicatively coupled by car networking between equipment 803 and vehicle.

It wherein, may include vehicle electric constancy system (Electronic Stability in vehicle 801 Program, ESP), steering wheel angle sensor (Steering Angle Sensor, SAS), entire car controller (Vehicle Control Unit, VCU) perhaps engine control system (Engine Management System EMS) or gearbox control System (Transmission Control Unit, TCU) processed, electronic power assist steering system (Electronic Power Steering, EPS), electronic control unit ECU and sensing system as shown in Figure 1.ECU receives sensor shown in FIG. 1 The data that system acquisition arrives, to detect the motion informations such as the distance between vehicle and nearby vehicle, speed；Above-mentioned ESP, The systems such as SAS, VCU, TCU, EPS or device can be used for the motion control of vehicle, so that lane change operation may be implemented in vehicle.

Cloud server 802 can be used for storing digital navigation map, it is preferred that the digital navigation map can be automatic Drive the accurately figure of rank.Vehicle 801 in the process of moving can to 802 request call electronic navigation of cloud server Figure, digital navigation map can provide driving navigation, traffic intersection position, the road surface identification in lane, speed limit mark for vehicle 801 Equal to relevant information of driving a vehicle；

Road V2I equipment 803 may be mounted at traffic intersection, be stored with the traffic intersection where road V2I equipment 803 Road surface identification information, traffic lights information etc.；Vehicle 801 can receive the road surface identification information of the transmission of road V2I equipment 803 And traffic lights information；

Vehicle 801, specifically can be according to the road surface identification information of digital navigation map that cloud server 802 stores, Fig. 1 Shown in the road marking that provides of the road surface identification information that takes of camera in sensing system and road V2I equipment 803 Know infomation detection vehicle where current lane driving direction with there are the driving direction of the adjacent lane of space waste whether Unanimously；

And when driving direction is inconsistent, sentenced according to the traffic lights waiting time that road V2I equipment 803 provides Break compared with current lane, lane change is to whether there are the adjacent lanes of space waste can faster arrive at the destination；

And when driving direction is consistent, the adjacent lane that space waste will be present is determined as that the target carriage of lane change will be wanted Road；Alternatively, inconsistent in driving direction and judge lane change to there are the adjacent lanes of space waste can faster reach mesh Ground when, the adjacent lane that space waste will be present is determined as that the target lane of lane change will be wanted；

And control vehicle is from current lane lane change to the accommodation space in target lane；The accommodation space in target lane is The accommodation space of insertion vehicle enough.

The embodiment of the present invention discloses a kind of vehicle, the automatic lane change auxiliary of the vehicle including traffic intersection as shown in Figure 7 system System.

A kind of also disclosed car-mounted computer of the embodiment of the present invention, comprising:

It is stored with the memory of executable program code；

The processor coupled with memory；

Wherein, processor calls the executable program code stored in memory, and it is any to execute Fig. 2 or shown in fig. 5 The automatic lane change householder method of the vehicle of traffic intersection.

The embodiment of the present invention discloses also a kind of computer readable storage medium, stores computer program, wherein the calculating Machine program makes computer execute the automatic lane change householder method of vehicle of any traffic intersection of Fig. 2 or shown in fig. 5.

The embodiment of the present invention discloses also a kind of computer program product, which includes storing computer The non-transient computer readable storage medium of program, and the computer program is operable to that computer is made to execute Fig. 2 or Fig. 5 institute The automatic lane change householder method of the vehicle of any traffic intersection shown.

It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction " in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these special characteristics, structure Or characteristic can combine in any suitable manner in one or more embodiments.Those skilled in the art should also know that Embodiment described in this description belongs to alternative embodiment, and not necessarily the present invention must for related actions and modules Must.

In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention Implementation process constitutes any restriction.

Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.

In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit Both it can take the form of hardware realization, can also realize in the form of software functional units.

If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product, It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products It embodies, which is stored in a memory, including several requests are with so that a computer is set Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes Some or all of each embodiment above method of the invention step.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One- Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory (Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can For carrying or any other computer-readable medium of storing data.

Above to a kind of automatic lane change householder method of the vehicle of traffic intersection disclosed by the embodiments of the present invention, system and vehicle It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality The explanation for applying example is merely used to help understand method and its core concept of the invention.Meanwhile for the general technology of this field Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory Bright book content should not be construed as limiting the invention.

Claims

1. a kind of automatic lane change householder method of the vehicle of traffic intersection, which is characterized in that the described method includes:

Detect vehicle where current lane driving direction with there are the driving direction of the adjacent lane of space waste whether one It causes；It is wherein, described that there are the adjacent lanes that the adjacent lane of space waste is the accommodation space that the vehicle is inserted into presence enough；

If inconsistent, judge compared with the current lane, whether lane change to the adjacent lane there are space waste can It is enough faster to arrive at the destination；

2. the method according to claim 1, wherein the method also includes:

If the driving direction of the current lane there are the driving direction of the adjacent lane of space waste is consistent, is executed with described It is described that the adjacent lane there are space waste is determined as the step of wanting the target lane of lane change.

3. method according to claim 1 or 2, which is characterized in that the traveling of the current lane where the detection vehicle Direction with whether there are the driving directions of the adjacent lane of space waste consistent, comprising:

The road surface identification letter that the camera of the road surface identification information and the vehicle that are provided according to digital navigation map takes Breath determines the first driving direction of the current lane and described there are the second traveling sides of the adjacent lane of space waste To；

The road surface identification information provided using the road V2I equipment of the traffic intersection is to first driving direction and described Second driving direction is modified；

If revised first driving direction and revised second driving direction are inconsistent, determine described current The driving direction in lane with described there are the driving direction of the adjacent lane of space waste is inconsistent.

4. the method according to claim 1, wherein described judge the lane change to institute compared with the current lane State that there are the adjacent lanes of space waste whether can faster arrive at the destination, comprising:

Obtain the traffic intersection V2I equipment provide the current lane the first signal lamp waiting time and the friendship The V2I equipment of access mouth provide described there are the second signal lamp waiting time of the adjacent lane of space waste；

Obtaining on the current lane traveling, there are spaces to the first running time needed for destination and lane change to described It travels after the adjacent lane of waste to the second running time needed for the destination；

Determine the vehicle on the current lane according to the first signal lamp waiting time and first running time It travels to first total used time of destination, and is determined according to the second signal lamp waiting time and second running time The vehicle was travelled on the adjacent lane there are space waste to second total used time of the destination；

If second total used time was less than for described first total used time, determine compared with the current lane, lane change is deposited to described The destination can be faster reached in the adjacent lane of space waste.

5. according to the method described in claim 4, it is characterized in that, the acquisition travels on the current lane to destination Traveling is to needed for the destination after required the first running time and lane change to the adjacent lane there are space waste The second running time, comprising:

The driving path travelled according to the jam situation of the current lane and on the current lane to destination calculates It travels on the current lane to the first running time needed for destination；

According to described there are the jam situation of the adjacent lane of space waste and there are the adjacent lanes of space waste described The driving path of upper traveling to destination travels after calculating lane change to the adjacent lane there are space waste to the purpose Second running time needed for ground.

6. method according to claim 1 or 2, which is characterized in that there are the adjacent vehicles of space waste by described described Road is determined as after the target lane that will want lane change, the method also includes:

Judge whether the current lane meets lane change condition；The lane change condition include: traveling on the current lane, It is greater than preset first distance threshold value at a distance from the vehicle in this lane preceding vehicle before the vehicle；And/or inspection Measure the behavior slipped after described lane preceding vehicle is not present；

If the current lane meets the lane change condition, execute the control vehicle from the current lane lane change to The step of accommodation space in the target lane.

7. according to the method described in claim 6, it is characterized in that, judging that the current lane meets the lane change condition Later, and the control vehicle from the current lane lane change to the accommodation space in the target lane it Before, the method also includes:

Detection traveling on the target lane, in the target lane front vehicle after the vehicle in preset duration With the presence or absence of the forward behavior of starting；If not, executing the control vehicle from the current lane lane change to the mesh The step of marking the accommodation space in lane；

Alternatively, detection travels the traveling speed of target lane front vehicle on the target lane, after the vehicle Degree, and be during the vehicle is from the current lane lane change to the target lane according to travel speed anticipation It is no to collide with target lane front vehicle；If not, executing the control vehicle from the current lane Lane change to the target lane the accommodation space the step of.

8. method according to claim 1 or 2, which is characterized in that there are the adjacent vehicles of space waste by described described Road is determined as after the target lane that will want lane change, the method also includes:

Prompt information is exported by the human-computer interaction interface of the vehicle；The prompt information for prompt user be confirmed whether into Row lane change；

If user carries out lane change for the feedback information instruction confirmation of prompt information input, the control vehicle is executed The step of from the current lane lane change to the accommodation space in the target lane.

9. a kind of automatic lane change auxiliary system of the vehicle of traffic intersection characterized by comprising

Detection unit, for detecting the driving direction of the current lane where vehicle and there are the rows of the adjacent lane of space waste Whether consistent sail direction；Wherein, described there are the adjacent lane of space waste is empty in the presence of the receiving for being enough inserted into the vehicle Between adjacent lane；

Judging unit, for judging the driving direction of the current lane in the detection unit and described there are space wastes Adjacent lane driving direction it is inconsistent when, judge compared with the current lane, lane change is to described there are space waste Whether adjacent lane can faster arrive at the destination；

Determination unit, for judging that described there are the adjacent lanes of space waste can faster reach mesh in the judging unit Ground when, the adjacent lane there are space waste is determined as to want the target lane of lane change；

Control unit, for controlling the vehicle from the current lane lane change to the accommodation space in the target lane.

10. a kind of automatic lane change auxiliary system of the vehicle of traffic intersection characterized by comprising vehicle, cloud server and It is mounted on the road V2I equipment of traffic intersection；

The vehicle, for calling the digital navigation map of the cloud server storage, to obtain the digital navigation map The road surface identification information of offer；And receive the road surface identification information that the road V2I equipment provides；

And the road surface that information of road surface, the digital navigation map for being taken according to the camera of the vehicle provide The road surface identification information that identification information and the road V2I equipment provide, detects the traveling side of the current lane where vehicle To with whether there are the driving directions of the adjacent lane of space waste consistent；It is wherein, described that there are the adjacent lanes of space waste To there is the adjacent lane for the accommodation space for being inserted into the vehicle enough；

The vehicle is also used in the driving direction of judging the current lane and described there are the adjacent lanes of space waste Driving direction it is inconsistent when, the traffic lights waiting time judgement that is sent according to the road V2I equipment with it is described current Lane is compared, and whether there are the adjacent lanes of space waste can faster arrive at the destination to described for lane change；And judging Lane change to it is described can faster be arrived at the destination there are the adjacent lane of space waste when, there are the adjacent of space waste by described Lane is determined as that the target lane of lane change will be wanted, and controls vehicle described in from the current lane lane change to the target lane Accommodation space.

11. a kind of vehicle, which is characterized in that the vehicle includes that the vehicle of traffic intersection as claimed in claim 9 becomes automatically Road auxiliary system.

12. a kind of car-mounted computer characterized by comprising

It is stored with the memory of executable program code；

The processor coupled with the memory；

The processor calls the executable program code stored in the memory, executes as claim 1~8 is any The automatic lane change householder method of vehicle of traffic intersection described in.

13. a kind of computer readable storage medium stores computer program, wherein the computer program makes computer Perform claim requires the automatic lane change householder method of vehicle of 1~8 described in any item traffic intersections.