CN114582153B - Ramp entry long solid line reminding method, system and vehicle - Google Patents
Ramp entry long solid line reminding method, system and vehicle Download PDFInfo
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- CN114582153B CN114582153B CN202210179089.7A CN202210179089A CN114582153B CN 114582153 B CN114582153 B CN 114582153B CN 202210179089 A CN202210179089 A CN 202210179089A CN 114582153 B CN114582153 B CN 114582153B
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- 241001149900 Fusconaia subrotunda Species 0.000 title claims abstract description 153
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- 238000004590 computer program Methods 0.000 claims description 14
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096872—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where instructions are given per voice
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Abstract
The invention discloses a ramp entrance long solid line reminding method, a ramp entrance long solid line reminding system and a vehicle, wherein the method comprises the following steps: acquiring driving route information of a current driving route of the own vehicle within a preset distance, wherein the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information; obtaining the lane position of the self-vehicle in the road according to the road structure and the positioning information, and judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane; and if the long solid line exists, initiating lane change planning and reminding a user, and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a ramp entrance long solid line reminding method, a ramp entrance long solid line reminding system and a vehicle.
Background
Based on the intelligent driving auxiliary function under navigation, the vehicle can automatically enter and exit the expressway ramp or the overpass intersection and exceed the vehicle which runs slowly. With the advancement of intelligent driving technology and the sudden increase of intelligent driving products in the market, more comfortable and intelligent driving experience becomes the current mainstream development direction.
The current vehicle navigation system can broadcast a prompt when a vehicle approaches a long solid line region near a ramp, and the similar operation is as follows: there is a long solid line in front 400m, please note that the right two lanes are changed in advance.
In the prior art, the navigation system can only play a long solid line broadcasting prompt after the own vehicle reaches a certain designated position, and can not play in advance by combining with lane changing behaviors of intelligent driving; under the condition that intelligent driving has completed the lane changing task, the navigation system can also carry out long solid-line broadcasting prompt, and brings bad experience to users.
Disclosure of Invention
Aiming at the technical problems, the invention provides a ramp entrance long solid line reminding method, a ramp entrance long solid line reminding system and a vehicle.
The first aspect of the invention provides a ramp entrance long solid line reminding method, which comprises the following steps:
acquiring driving route information of a current driving route of the own vehicle within a preset distance, wherein the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information;
obtaining the lane position of the self-vehicle in the road according to the road structure and the positioning information, and judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane;
and if the long solid line exists, initiating lane change planning and reminding a user, and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front.
Optionally, the acquiring the driving route information of the driving route of the current own vehicle within the preset distance includes:
and determining the ramp entrance position on the route according to the navigated route, and acquiring the driving route information of the road section with the preset distance from the ramp entrance position.
Optionally, the obtaining the driving route information of the preset distance from the entrance position of the ramp includes:
judging whether the driving route information of the preset distance road section comprises a road section with lane line information being a dotted line, if the road section with the dotted line exists, judging whether the dotted line distance of the road section meets the lane change requirement, and if so, taking a long solid line behind the road section as the basis information for judging whether the long solid line exists on the right side when the self-vehicle drives to a ramp entrance in the current lane.
Optionally, if there is a section of the broken line and the distance of the section of the broken line does not meet the lane change requirement, the section of the broken line is ignored or marked as a solid line.
Optionally, the method further comprises:
judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane through a navigation system; or alternatively
And judging whether a long solid line exists on the right side when the own vehicle runs to the ramp entrance in the current lane through the vehicle machine system.
Optionally, when the navigation system determines whether the long solid line exists on the right side when the host vehicle runs to the ramp entrance in the current lane, the reminding the user includes:
the navigation system reminds the user directly in a voice or interface display mode;
or the navigation system sends the lane change plan to the vehicle-mounted system and informs the vehicle-mounted system that the lane change plan is initiated by avoiding the long solid line, and the vehicle-mounted system reminds the user.
Optionally, when the vehicle machine system determines whether a long solid line exists on the right side when the vehicle runs to the ramp entrance in the current lane, the reminding the user includes:
the navigation system only sends the lane change plan to the vehicle-to-vehicle system, and the vehicle-to-vehicle system judges that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position of the self-vehicle and the long solid line, and reminds a user.
Optionally, if the long solid line does not exist, the vehicle runs according to the navigation route and shields the long solid line in front of the reminding user, and the navigation system or the vehicle-mounted system shields the long solid line in front of the reminding user.
Optionally, the reminding user includes at least one of:
voice broadcast, image interaction, text interaction, dynamic effect interaction, and VR interaction.
In a second aspect of the present invention, there is provided a ramp entrance long solid line reminding system, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the driving route information of the current driving route of the own vehicle within a preset distance, and the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information;
the processing module is used for obtaining the lane position of the self-vehicle in the road according to the road structure and the positioning information and judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane;
and the reminding module is used for initiating lane change planning and reminding a user if the long solid line exists, and driving according to the navigation route and shielding and reminding the user that the long solid line exists in front of the user if the long solid line does not exist.
Optionally, the reminding module includes:
the navigation reminding module is used for reminding a user in a voice or interface display mode directly by utilizing a navigation system;
and the vehicle-mounted system reminding module is used for receiving the lane change planning information sent by the navigation system and informing the vehicle-mounted system that the lane change planning is initiated by the avoidance long solid line so as to remind a user.
Optionally, the reminding module includes:
and the vehicle-mounted system reminding module is used for receiving the lane change plan sent by the navigation system, and reminding a user when judging that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position where the vehicle runs and the long solid line.
In a third aspect of the present invention, there is provided a vehicle comprising a processor, a memory and a computer program stored on the memory and capable of running on the processor, which when executed by the processor implements the steps of the ramp entry long solid line reminding method as described above.
In a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the ramp entry long solid line reminding method as described above.
In the technical scheme provided by the invention, firstly, the driving route information of the current driving route of the own vehicle within a preset distance is obtained, and the driving route information at least comprises the ramp entrance position, the road structure near the ramp entrance and the lane line information; then, the lane position of the self-vehicle in the road is obtained according to the road structure and the positioning information, and whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane is judged; and if the long solid line exists, initiating lane change planning and reminding a user, and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front. According to the method, after the multiparty data such as the navigation information, the lane-level information and the driving position of the own vehicle are fused, the relative position relation between the own vehicle and the long solid line of the lane is analyzed, and the long solid line broadcasting reminding can be carried out at an accurate time by combining the navigation route, or unnecessary broadcasting reminding can be restrained, so that the user experience is improved, and the broadcasting reminding is more accurate.
Drawings
FIG. 1 is a schematic diagram of a ramp entry long solid line reminding position in the prior art in an embodiment of the invention;
FIG. 2 is a schematic diagram of a reminding position of a long solid line of an entrance of another ramp in the prior art according to an embodiment of the present invention;
FIG. 3 is a flow chart of a ramp entry long solid line reminding method in an embodiment of the invention;
FIG. 4 is a schematic diagram of a long solid line reminding only for position 1 and position 2 in the embodiment of the invention;
FIG. 5 is a schematic diagram of a method for reminding a vehicle of lane change at position 4 and a long solid line according to an embodiment of the invention;
fig. 6 is a schematic diagram of a ramp entrance long solid line reminding system according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, fig. 1 and 2 are schematic diagrams of a long solid line reminding position for a ramp entrance in the prior art.
In fig. 1, the road structure is three lanes, the own vehicle runs on the three lanes, and is positioned at a position 500m away from the long solid line of the ramp entrance, and the navigation system can remind the user of 'long solid line in front of 500m, please pay attention to enter the right lane in advance'. I.e. the own vehicle must reach the specified position 500m from the long solid line before there is a lane change reminder. However, when the vehicle is at the position 3 in the figure, the vehicle can directly travel to the ramp entrance without passing through the long solid line of the ramp entrance, so that the broadcasting prompt has no prompting meaning for a user. The above-mentioned reminder has a certain meaning during the running of the vehicle at position 1 and position 2, but if the vehicle is congested 500m in front, the lane change distance of the vehicle will be limited.
In fig. 2, when the vehicle is at position 4, neither the navigation system nor the intelligent driving system of the vehicle will send a reminder to the user, reminding the user to change lanes in advance, and only when the vehicle is running to the position of the navigation broadcasting point in the diagram, the navigation system will send a broadcasting reminder to the user. The self-vehicle driving system starts to change the lane when in the position 4, the lane is changed to the rightmost lane in advance before the long solid line of the ramp opening comes, and the navigation system still can report and remind at the navigation broadcasting point, so that bad experience is brought to users.
Based on the technical defects, in the prior art, for taking the position of a self-vehicle driving lane as an analysis factor, only the type of a front lane line is obtained, and broadcasting reminding is carried out to change lanes in advance when the type of the front lane line is a long solid line; meanwhile, the navigation system and the intelligent driving system of the own vehicle are not combined, and data fusion processing cannot be carried out, so that unnecessary information reminding is generated.
In a driving scene, an intelligent driving system of a vehicle can be responsible for monitoring real-time traffic flow information, lane line information, fusion positioning and the like according to a sensing system and runs according to a running planning route, and when a ramp entrance is arranged in front, the intelligent driving system can change a lane in advance, for example, a lane is changed in advance at a position 4 in fig. 2, a navigation broadcasting point still does not reach after the lane change is completed, and broadcasting reminding of the navigation system can still be received when the vehicle runs to the navigation broadcasting point; therefore, if the navigation system and the intelligent driving system are subjected to information fusion, the broadcasting prompt can be accurately provided, and unnecessary broadcasting prompt is restrained.
Based on the problems existing in the prior art, the invention provides a ramp entrance long solid line reminding method, which is applied to an intelligent driving system, and the intelligent driving system fuses according to acquired various information to realize driving control and reminding broadcasting of a vehicle. The intelligent driving system needs a large amount of data to support the advanced driving auxiliary system of the vehicle to realize the functions of the intelligent driving system when the intelligent driving system enters and exits the ramp of the expressway and runs on the expressway, and the intelligent driving system can collect or collect corresponding needed data from various sensor components or other sensing systems of the vehicle. Illustratively, the data is derived from one or more of the following: camera, radar sensor, ultrasonic sensor, IMU, high-precision map engine, ACC (Adaptive Cruise Control ), LKS (Lane Keep System), LDW (Lane Departure Warning, lane departure warning System), TSR (Traffic Sign Recognition ), AHBC (Adaptive High-Beam Control), ALC (Active Lane Control ). The self-vehicle CAN be connected with the sensor, the actuator or the controller of the modules such as a camera, a radar sensor, an ultrasonic sensor, an IMU, a high-precision map engine, ACC, LKS, LDW, TSR, AHBC, ALC and the like through a CAN bus, so that information interaction CAN be conveniently carried out. Here, the components are not limited to the above examples.
The intelligent driving system may acquire various information such as information (e.g., speed, acceleration, etc.) of a road, a road sign, other vehicles, lane information of a road, lane line of a lane, distance information of a vehicle, and speed information (e.g., speed, acceleration, etc.) of a host vehicle, acceleration, gear, steering, mode selection, malfunction, etc. information, which are used to establish an accurate and dynamic model of the surrounding environment of the host vehicle, in real time through various sensors such as a high-precision map, IMU, camera, radar sensor, ultrasonic sensor, etc., or a combination of various sensors. Based on the model and the control algorithm of the intelligent driving system, the intelligent driving system can also output target vehicle speed and/or steering wheel corner information to a driving module, a braking module, a steering module and the like of the self-vehicle, so that the self-vehicle is automatically controlled to move to the right side and the expected movement track of the self-vehicle is realized.
In one embodiment of the invention, the lane position of the vehicle in the road structure can be determined by using a positioning technology, for example, a high-precision positioning system, an IMU (inertial measurement unit) and other sensors are used for accurately positioning the longitude and latitude of the vehicle under an absolute coordinate system, and then a high-precision map engine is used for accurately acquiring the longitudinal road distance of the vehicle from the ramp access point of the expressway, and the lane information of the vehicle and the lane information of the target lane. The own vehicle can also obtain other road sign information such as speed limit information of a road section on which the own vehicle is traveling through a high-precision map.
Compared with the prior art that the vehicle is positioned only by using a navigation system, the method and the device have the advantages that the accurate positioning of the road information of the vehicle by using the high-precision map can be realized, and particularly, compared with the traditional positioning technology, the position information of the vehicle along the longitudinal direction of the road can be more accurately acquired by using the high-precision map, and the specific lane information of the vehicle can also be acquired.
In another embodiment of the present invention, the lane position of the vehicle in the road structure may be determined by using the sensing system of the vehicle, for example, the vehicle may use the camera of the vehicle to collect the road image to determine the current lane position, or the radar ranging method may be used to detect the distance between two sides of the vehicle to determine the lane position of the vehicle.
Specifically, the invention realizes the ramp entrance long solid line reminding through the following steps:
step S100: and acquiring the driving route information of the current driving route of the own vehicle within a preset distance, wherein the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information.
In the prior art described above, only the broadcasting prompt can be carried out at the navigation broadcasting point, the broadcasting prompt can not be carried out in advance without combining with the position of the actual lane of the own vehicle, and the intelligent driving system can make lane changing in advance to cope with the running obstacle of the long solid line in front.
The information of the driving route at a certain preset distance before the ramp entrance position can be used as a judging basis for whether to report reminding and lane change driving. The information included in the driving route information is not limited to the ramp entrance position, the road structure near the ramp entrance and the lane line information, but can also include information such as real-time traffic flow information, lane line information, fusion positioning, lane changing environment and the like, for example, the high-precision map is used for positioning the position of the own vehicle, the self-vehicle sensing system is used for positioning the position of the own vehicle, the high-precision map and the self-vehicle sensing system are used for driving control and the like, and other data are needed.
In order to accurately position the vehicle and accurately carry out long solid line broadcasting reminding, the road structure near the ramp entrance should be accurately obtained to contain a plurality of lanes and lane line information of each lane, wherein the lane line information comprises the types of lane lines, such as solid lines, broken lines and the lengths of the solid lines and the broken lines.
Step S200: and obtaining the lane position of the self-vehicle in the road according to the road structure and the positioning information, and judging whether a long solid line exists on the right side when the self-vehicle runs to the ramp entrance in the current lane.
In an embodiment of the present invention, the road structure mainly uses a component structure of a road as main information, for example, whether the road structure is a three-lane or four-lane road or two-lane road, whether the road structure includes an emergency road, etc.; it is apparent that on highways, emergency lanes are present. The positioning information is mainly the positioning of the own vehicle in the road structure, namely, which specific lane is located in multiple lanes, so that the position relation between the own vehicle and the long solid line is obtained.
In the high-speed route design, a long solid line is planned at the entrance position of a common ramp, so that the random change of the vehicle is prevented from affecting other vehicles to enter the ramp, and the occurrence of vehicle accidents is reduced. The long solid line exists in the lane far away from the ramp entrance side, and the lane line close to the ramp entrance is a dotted line, so that the vehicle enters the ramp entrance through the lane change.
After the specific lane where the own vehicle runs in the lane structure is clear, lane line information of a front route can be obtained through obtaining a high-precision map, and the specific position of a front long solid line is determined, so that whether the long solid line exists on the right side of the lane where the own vehicle runs currently is judged. It should be noted that the judgment in the present embodiment is based on the fact that the own vehicle is making in the case where the current lane is running without changing, and the judgment program is automatically executed if the own vehicle is executing or finishing the lane change. The intelligent driving system can plan a driving route and change a driving lane according to road condition information, and if the lane merging ramp entrance is not influenced by a long solid line, broadcasting reminding is not needed, so that the intelligent driving system is a reason for the need of integrating information of navigation and a vehicle machine system.
Step S300: and if the long solid line exists, initiating lane change planning and reminding a user, and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front.
In order to avoid unnecessary broadcasting reminding and achieve the aim of intelligent driving and navigation linkage, corresponding vehicle control is executed according to the judgment result of the step S200; if the lane change is needed, the vehicle is controlled to change the lane according to the lane change plan, and if the user is reminded, voice broadcasting can be adopted and other voice related information is responsible for broadcasting; or the vehicle-mounted display screen is used for displaying man-machine interaction, such as various interaction modes of images, characters, dynamic effects, VR and the like, so as to remind. When the own vehicle runs on the rightmost lane, the lane can be directly changed to the ramp entrance, and a long solid line does not exist on the right side, so that broadcasting reminding is not needed, broadcasting of the navigation system can be restrained, and broadcasting reminding is not needed. In one embodiment, only the distance from the ramp entrance is required to be reminded, and the merging ramp is timely changed.
The broadcast reminder is usually sent by a navigation system, and the navigation system is generally provided by a third party service provider, so that the broadcast reminder cannot be modified. In addition, the vehicle-mounted navigation system is an independent module, and the broadcasting prompt is not controlled by the vehicle system. Therefore, in the execution step of step S300, the intelligent driving system that the navigation system and the car machine system perform information fusion may control the broadcasting or suppressing of the broadcasting prompt through the intelligent driving system. By utilizing the technical scheme provided by the invention, the accuracy of the navigation broadcasting time can be improved, the coordination of the navigation system and the intelligent driving function is realized, the accurate broadcasting during the broadcasting is realized, the broadcasting is not inhibited during the broadcasting, and the driving experience under the linkage of the intelligent driving function and the navigation is improved.
Further, in the step S100, the obtaining the driving route information of the driving route of the current vehicle within the preset distance may be implemented by the following manner:
the ramp entrance positions in the navigation route are determined first, and if a plurality of ramp entrances are available, the ramp entrance positions can be determined step by step or determined according to the ramp entrance positions. Then, a road section at a distance from the ramp entrance is extracted as travel route information, and the travel route information of the road section, which includes at least the ramp entrance position, the road structure near the ramp entrance, and the lane line information, may be acquired based on a high-definition map or the like.
It can be understood that: and determining the ramp entrance position on the route according to the navigated route, and acquiring the driving route information of the road section with the preset distance from the ramp entrance position. It is understood that although the ramp entrance is taken as an example, the application scenario of the scheme provided by the invention is not limited, and the scheme can be understood as all applicable driving scenarios of lane change planning and reminding and long solid line reminding.
As shown in fig. 4, for example, navigation is performed to the 6 th of the west-earth city of the thistle gate bridge in the sea lake area of beijing, at least one ramp entrance is provided in the route planning of the navigation, the self-vehicle is not yet driven to reach the vicinity of the ramp entrance, but the position of the ramp entrance is obtained in advance at a distance of 1000m or 500m (the distance or other set distance can be determined according to the actual road condition), and the position is represented as longitude and latitude coordinates in the navigation; the position 1 and the position 2 are used for broadcasting reminding, and the position 3 is not influenced by a long solid line and does not broadcast or inhibits broadcast. As shown in fig. 5 at position 4, the intelligent driving system may complete running on the rightmost lane in advance if lane change can be performed during running until the lane change is to be performed. And if the intelligent driving system cannot finish lane changing to the rightmost lane in the driving process, broadcasting reminding can be carried out. If the own vehicle is driven manually, the broadcasting prompt or the suppression broadcasting prompt can be given according to the lane where the own vehicle is located and the actual position.
Further, if a plurality of long solid lines exist on the driving route and a dotted line exists between the long solid lines, whether the dotted line has an influence on the driving process needs to be judged, if so, the solid line close to the ramp entrance direction is taken as a reminding target, and other solid lines are ignored. Therefore, the obtaining the driving route information of the preset distance from the entrance position of the ramp can be realized by the following ways:
judging whether the driving route information of the preset distance road section comprises a road section with lane line information being a dotted line, if the road section with the dotted line exists, judging whether the dotted line distance of the road section meets the lane change requirement, and if so, taking a long solid line behind the road section as the basis information for judging whether the long solid line exists on the right side when the self-vehicle drives to a ramp entrance in the current lane. And if the broken line section exists and the distance of the broken line section does not meet the lane change requirement, ignoring or marking the broken line section as a solid line.
In one embodiment, the vehicle has a ramp entrance in front of the vehicle and a plurality of lanes between the ramp entrance, wherein one lane comprises two solid lines and a dashed line, wherein the dashed line is located between the two solid lines, and the vehicle runs on the lane. The self-vehicle runs on the lane, and runs along the first solid line as the unchanged lane runs to the position of the broken line, whether the lane changing requirement is met or not is calculated according to the surrounding environment factors, and whether lane changing can be successfully completed or not is calculated. If lane change can be completed, the solid line behind the broken line is not considered, and the solid line on the lane where the lane is located after the lane change is used as the basis of broadcasting reminding. If the lane change requirement is not met, the front dotted line is ignored, the front solid line is used as the basis of the broadcasting prompt, and the dotted line can be marked as a solid line for prompt, so that the broadcasting prompt can be sent out in advance, as shown in the position 4 of fig. 5.
In another embodiment, the ramp entrance is located in front of the vehicle, and a plurality of lanes are located between the ramp entrance, wherein one lane comprises a solid line and a dotted line, wherein the solid line is located in front of the ramp, and the dotted line is located in front of the vehicle, i.e. the vehicle passes through the dotted line. The intelligent driving system acquires a road section with lane line information as a dotted line in the driving route information, judges whether the dotted line distance of the road section meets the lane change requirement according to the surrounding driving environment, and if the surrounding vehicles are fewer and meet the lane change requirement, takes a long solid line behind the road section as the basis information for judging whether the long solid line exists on the right side when the self-vehicle drives to a ramp entrance in the current lane. And if the distance of the broken line does not meet the lane change requirement, the section of the broken line is ignored or marked as a solid line to be processed so as to send out a broadcasting prompt in advance, as shown in the position 4 of fig. 5.
The broadcasting and suppressing of the broadcasting prompt comprises two modes, wherein one mode is realized through a navigation system, and the other mode is realized through a vehicle machine system (namely an intelligent driving system, or a system module for controlling broadcasting by the vehicle machine, and the like). Accordingly, when it is determined whether or not there is a long solid line (a solid line that may be defined to be a long solid line that is greater than a preset distance value) on the right side of the own vehicle currently in the course of running on the current lane, the solid line may be passed through the navigation system or the solid line may be passed through the vehicle-machine system.
Specifically, in one embodiment, the navigation system determines whether a long solid line exists on the right side when the host vehicle runs to the ramp entrance in the current lane. If the long solid line exists, the navigation system directly reminds the user in a voice or interface display mode; or the navigation system sends the lane change plan to the vehicle-mounted system and informs the vehicle-mounted system that the lane change plan is initiated by avoiding the long solid line, and the vehicle-mounted system reminds the user.
And if the long solid line does not exist, driving according to the navigation route, and shielding and reminding the broadcasting prompt of the long solid line in front of the user by the navigation system.
In another embodiment, the vehicle system judges whether a long solid line exists on the right side when the vehicle runs to the ramp entrance in the current lane. If a long solid line exists, the navigation system only sends the lane change plan to the vehicle-to-vehicle system, and the vehicle-to-vehicle system judges that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position of the vehicle and the long solid line, and the vehicle-to-vehicle system reminds a user. And if the long solid line does not exist, driving according to the navigation route, and shielding and reminding the broadcasting reminding of the long solid line in front of the user by the vehicle-mounted system. It should be understood that the shielded reminder is an active broadcast reminder that is shielded from navigation at the broadcast location point, and is defined in the broadcast setting not to broadcast the reminder. The vehicle runs on the right lane, the long solid line does not exist on the lane, the long solid line exists on other lanes, but the entrance of the vehicle into the ramp is not affected, and the broadcasting prompt is not carried out.
As can be seen from the above embodiments, the present invention preferably obtains the driving route information of the current driving route of the own vehicle within the preset distance, where the driving route information at least includes the ramp entrance position, the road structure near the ramp entrance, and the lane line information; then, the lane position of the self-vehicle in the road is obtained according to the road structure and the positioning information, and whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane is judged; and if the long solid line exists, initiating lane change planning and reminding a user, and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front. According to the method, after the multiparty data such as the navigation information, the lane-level information and the driving position of the own vehicle are fused, the relative position relation between the own vehicle and the long solid line of the lane is analyzed, and the long solid line broadcasting reminding can be carried out at an accurate time by combining the navigation route, or unnecessary broadcasting reminding can be restrained, so that the user experience is improved, and the broadcasting reminding is more accurate.
As shown in fig. 6, the present invention further provides a ramp entrance long solid line reminding system, including: the obtaining module 610 is configured to obtain driving route information of a driving route of the current own vehicle within a preset distance, where the driving route information includes at least a ramp entrance position, a road structure near the ramp entrance, and lane line information. For example, the ramp entrance position on the route is determined according to the navigated route, and the driving route information of the preset distance road section from the front ramp entrance position is obtained. Judging whether the driving route information of the preset distance road section comprises a road section with lane line information being a dotted line, if the road section with the dotted line exists, judging whether the dotted line distance of the road section meets the lane change requirement, and if so, taking a long solid line behind the road section as the basis information for judging whether the long solid line exists on the right side when the self-vehicle drives to a ramp entrance in the current lane; and if the broken line section exists and the distance of the broken line section does not meet the lane change requirement, ignoring or marking the broken line section as a solid line.
And the processing module 620 is configured to obtain a lane position of the host vehicle in the road according to the road structure and the positioning information, and determine whether a long solid line exists on the right side when the host vehicle travels from the current lane to the ramp entrance. In some embodiments, the navigation system can judge whether a long solid line exists on the right side when the own vehicle runs to the ramp entrance in the current lane; or judging whether a long solid line exists on the right side when the self-vehicle runs to the ramp entrance in the current lane through the vehicle-to-vehicle system.
And the reminding module 630 is used for initiating lane change planning and reminding the user if the long solid line exists, and driving according to the navigation route and shielding to remind the user that the long solid line exists in front of the user if the long solid line does not exist. Specifically, the broadcasting prompt can be carried out in the following mode: voice broadcast, image interaction, text interaction, dynamic effect interaction, and VR interaction.
The alert module 530 includes: the navigation reminding module is used for reminding a user in a voice or interface display mode directly by utilizing a navigation system; and the vehicle-mounted system reminding module is used for receiving the lane change planning information sent by the navigation system and informing the vehicle-mounted system that the lane change planning is initiated by the avoidance long solid line so as to remind a user. The reminder module 530 further includes:
and the vehicle-mounted system reminding module is used for receiving the lane change plan sent by the navigation system, and reminding a user when judging that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position where the vehicle runs and the long solid line.
If the long solid line does not exist, the vehicle runs according to the navigation route and shields the long solid line in front of the reminding user, and the navigation system or the vehicle machine system shields the broadcasting reminding for reminding the existence of the long solid line in front of the reminding user.
As shown in fig. 4, for example, in the route planning of navigation, there is at least one ramp entrance, and the traveling of the vehicle does not reach the vicinity of the ramp entrance, but the position of the ramp entrance is obtained in advance at a distance of 500m (the distance or other set distance can be determined according to the actual road condition), and is represented as longitude and latitude coordinates in navigation; the position 1 and the position 2 are used for broadcasting reminding, and the position 3 is not influenced by a long solid line and does not broadcast or inhibits broadcast. As shown in position 4 of fig. 5, the intelligent driving system can complete the driving on the rightmost lane in advance if the lane change is convenient during the driving process until the lane change is performed to the ramp entrance. And if the intelligent driving system cannot finish lane changing to the rightmost lane in the driving process, broadcasting reminding can be carried out. If the own vehicle is driven manually, the broadcasting prompt or the suppression broadcasting prompt can be given according to the lane where the own vehicle is located and the actual position.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The invention also provides a vehicle which comprises a processor, a memory and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the steps of the ramp entry long solid line reminding method when being executed by the processor.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the steps of the ramp entry long solid line reminding method when being executed by a processor.
It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, a recording medium, a USB flash disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth. The computer program comprises computer program code. The computer program code may be in the form of source code, object code, executable files, or in some intermediate form, among others. The computer readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth.
In some embodiments of the present invention, the automatic parking device may include a controller, which is a single chip microcomputer chip, integrated with a processor, a memory, a communication module, etc. The processor may refer to a processor comprised by the controller. The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, system that includes a processing module, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. The ramp entrance long solid line reminding method is characterized by comprising the following steps of:
acquiring driving route information of a current driving route of the vehicle within a preset distance, wherein the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information, and the lane line information comprises a lane line type and a lane line length;
the method comprises the steps of obtaining the lane position of a self-vehicle in a road according to the road structure and positioning information, and judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane through a navigation system or a vehicle-machine system;
if the long solid line exists, the navigation system sends the lane changing plan to the vehicle-to-machine system, and informs the vehicle-to-machine system that the lane changing plan is initiated by avoiding the long solid line, and the vehicle-to-machine system reminds a user; when the own vehicle runs on the rightmost lane, the lane can be changed to the ramp entrance directly, and a long solid line does not exist on the right side, so that broadcasting reminding is not needed, broadcasting of the navigation system can be restrained, and broadcasting reminding is not needed; and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front.
2. The method according to claim 1, wherein the acquiring travel route information of a travel route of the current own vehicle within a preset distance includes:
and determining the ramp entrance position on the route according to the navigated route, and acquiring the driving route information of the road section with the preset distance from the ramp entrance position.
3. The method according to claim 2, wherein the obtaining the travel route information of the preset distance from the entrance position of the self-traveling ramp includes:
judging whether the driving route information of the preset distance road section comprises a road section with lane line information being a dotted line, if the road section with the dotted line exists, judging whether the dotted line distance of the road section meets the lane change requirement, and if so, taking a long solid line behind the road section as the basis information for judging whether the long solid line exists on the right side when the self-vehicle drives to a ramp entrance in the current lane.
4. A method according to claim 3, characterized in that if there is a segment of the dashed line and the distance of the segment of the dashed line does not meet the lane change demand, the segment of the dashed line is ignored or marked as a solid line.
5. The method as recited in claim 1, further comprising:
judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane through a navigation system; or alternatively
And judging whether a long solid line exists on the right side when the own vehicle runs to the ramp entrance in the current lane through the vehicle machine system.
6. The method of claim 5, wherein the prompting the user when the navigation system determines whether a long solid line exists on the right side of the host vehicle when the host vehicle is traveling on the current lane to the ramp entrance, further comprises:
the navigation system reminds the user directly in a voice or interface display mode.
7. The method of claim 5, wherein the reminding the user when the vehicle is judged to have a long solid line on the right side of the ramp entrance from the current lane by the vehicle system comprises:
the navigation system only sends the lane change plan to the vehicle-to-vehicle system, and the vehicle-to-vehicle system judges that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position of the self-vehicle and the long solid line, and reminds a user.
8. The method according to claim 6 or 7, wherein if the long solid line does not exist, the vehicle runs according to the navigation route and shields the long solid line in front of the reminding user, and the navigation system or the vehicle system shields the broadcasting reminding for reminding the user of the existence of the long solid line in front of the reminding user.
9. The method of claim 1, wherein the alerting the user comprises at least one of:
voice broadcast, image interaction, text interaction, dynamic effect interaction, and VR interaction.
10. A ramp entry long solid line reminder system, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring driving route information of a driving route of a current self-vehicle within a preset distance, the driving route information at least comprises a ramp entrance position, a road structure near the ramp entrance and lane line information, and the lane line information comprises a lane line type and a length;
the processing module is used for obtaining the lane position of the self-vehicle in the road according to the road structure and the positioning information, and judging whether a long solid line exists on the right side when the self-vehicle runs to a ramp entrance in the current lane through the navigation system or the vehicle-machine system;
the reminding module is used for sending the lane change planning to the vehicle-mounted system by the navigation system if the long solid line exists, informing the vehicle-mounted system that the lane change planning is initiated by avoiding the long solid line, and reminding a user by the vehicle-mounted system; when the own vehicle runs on the rightmost lane, the lane can be changed to the ramp entrance directly, and a long solid line does not exist on the right side, so that broadcasting reminding is not needed, broadcasting of the navigation system can be restrained, and broadcasting reminding is not needed; and if the long solid line does not exist, driving according to the navigation route and shielding to remind the user that the long solid line exists in front.
11. The system of claim 10, wherein the reminder module comprises:
the navigation reminding module is used for reminding a user in a voice or interface display mode directly by utilizing a navigation system;
and the vehicle-mounted system reminding module is used for receiving the lane change planning information sent by the navigation system and informing the vehicle-mounted system that the lane change planning is initiated by the avoidance long solid line so as to remind a user.
12. The system of claim 10, wherein the reminder module comprises:
and the vehicle-mounted system reminding module is used for receiving the lane change plan sent by the navigation system, and reminding a user when judging that the lane change plan is initiated by avoiding the long solid line according to the position relation between the lane position where the vehicle runs and the long solid line.
13. A vehicle comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the computer program when executed by the processor implementing the steps of the ramp entry long solid line reminder method of any one of claims 1 to 9.
14. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, which when executed by a processor, implements the steps of the ramp entry long solid line reminding method according to any one of claims 1 to 9.
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| CN115416674B (en) * | 2022-08-31 | 2024-08-20 | 重庆长安汽车股份有限公司 | Driving reminding method and device, electronic equipment and storage medium |
| CN116513228B (en) * | 2023-04-28 | 2025-08-22 | 重庆长安汽车股份有限公司 | Vehicle lane change warning method, device, electronic device and storage medium |
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