Urban intelligent lane changing system

Abstract

The invention discloses an urban intelligent lane changing system, relates to the technical field of intelligent lanes, and solves the technical problem of low planning efficiency when an existing variable lane is applied to a road in a city. The data acquisition module is used for acquiring lane passing data of each lane; a lane planning module; acquiring an updating date, and acquiring historical traffic data of each recording period under a plurality of continuous set recording dates when the date to be updated arrives; dividing each recording period according to the historical passing data to obtain a plurality of passing time periods; setting a variable lane according to the lane type; generating a planned lane type of each variable lane of the corresponding passing time period according to the historical passing data of each passing time period; the lane changing module is used for generating lane changing signals of the corresponding lane in the corresponding passing time period according to the passing time period lane type and the planned lane type; lane changing is carried out according to the lane passing data; and the efficiency of planning the variable lanes in the city is improved.

Description

Technical Field

[0001] The present application belongs to the field of intelligent lane technology, and relates to intelligent lane technology, and specifically to an urban intelligent lane changing system. Background Art

[0002] Smart lanes are an important part of the intelligent transportation system. They use advanced sensors, traffic technologies, artificial intelligence, big data analysis and other technical means to achieve intelligent management and optimization of lane use.

[0003] Traditional variable lanes are mainly used in urban trunk roads. Due to the characteristics of traffic flow in the morning and evening, urban trunk roads have tidal characteristics, that is, during rush hour, vehicles are heading into the city, and during rush hour, vehicles are heading out of the city. Therefore, setting one or more roads in the middle of the trunk road as variable lanes can balance traffic pressure and improve road utilization. With the intensification of urban traffic congestion, variable lanes are gradually being applied to urban roads. The existing setting of variable lanes requires a lot of manual analysis of urban roads to determine the number of variable lanes and the time of setting. However, the population in the city will have job transfers, resulting in changes in commuting routes, and thus the demand for lanes in the city is constantly changing. Therefore, the amount of data that needs to be processed when setting variable lanes is large, and the manual analysis method results in high labor costs and low processing efficiency. Therefore, an urban intelligent lane change system is needed. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art; to this end, the present application proposes an urban intelligent lane changing system to solve the technical problem of low planning efficiency when the existing variable lanes are applied to urban roads.

[0005] To achieve the above-mentioned purpose, the first aspect of the present application provides an urban intelligent lane change system, comprising: a data acquisition module, a lane planning module, a lane change module and a database;

[0006] The data acquisition module is used to acquire lane traffic data of each lane through a data acquisition device connected thereto;

[0007] The lane planning module; obtains an update date, and when the update date arrives, obtains historical traffic data of each recording period under several consecutive set recording dates through a database connected thereto; divides each recording period into several traffic periods according to the historical traffic data; obtains the lane type of each lane in the traffic period; sets a variable lane according to the lane type; generates a planned lane type of each variable lane corresponding to the traffic period according to the historical traffic data of each traffic period;

[0008] The lane change module: obtains the traffic period lane type of the current traffic period; generates a lane change signal for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type; and obtains lane traffic data of each lane at present; and performs lane change according to the lane traffic data.

[0009] The present application obtains the lane type of each lane in a traffic period; sets variable lanes according to the lane type; obtains historical traffic data of each recording period under several consecutive set recording dates; divides each recording period into several traffic periods according to the historical traffic data; generates planned lane types for each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period; obtains the traffic period lane type of the current traffic period; generates lane change signals for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type; obtains lane traffic data of each current lane; changes lanes according to the lane traffic data; so as to realize fully intelligent lane planning for intersections that need to realize intelligent lanes, and improve the efficiency of variable lane planning on urban roads.

[0010] Preferably, the step of setting a variable lane according to the lane type includes:

[0011] Obtain the number of lanes of the same lane type of each lane; the lane types include through lanes, left turn lanes, and right turn lanes;

[0012] When the number of left-turn lanes is greater than 1, the left-turn lane farthest from the straight lane is set as an immutable lane, and the remaining left-turn lanes are marked as variable lanes; otherwise, the left-turn lane is set as an immutable lane;

[0013] When the number of right-turn lanes is greater than 1, the right-turn lane farthest from the through lane is set as an immutable lane, and the remaining right-turn lanes are marked as variable lanes; otherwise, the right-turn lane is set as an immutable lane;

[0014] When the number of left-turn variable lanes and right-turn variable lanes is not zero, all through lanes are set as variable lanes; otherwise, when the number of through lanes is greater than 1, all through lanes are marked as variable lanes, otherwise, the through lanes are marked as non-variable lanes.

[0015] Preferably, the method of dividing each recording period according to the historical traffic data into a plurality of traffic time periods includes:

[0016] The lane type corresponding to each lane in the historical traffic data and the number of waiting vehicles corresponding to each lane are extracted and marked as DCij; wherein i is the number of different lane types, and j is the number of each lane in the corresponding lane type; the lane types include straight lanes, left-turn lanes, and right-turn lanes; the waiting vehicle data is the difference between the number of vehicles entering the lane and the number of vehicles leaving the lane within one cycle of the traffic light;

[0017] The target lane coefficient DXi corresponding to the lane type numbered i is calculated by the formula DXi=∑(DCij) / ZTSi; wherein ZTSi is the maximum number of passing vehicles corresponding to the lane type numbered i;

[0018] The average value of the target lane coefficients of the same lane type corresponding to the same recording period on each recording date is obtained, marked as DXPi; and integrated into a target feature vector DT = {DXP1, DXP2, DXP3}; wherein, when the lane type is a left-turn lane, i = 1; when the lane type is a through lane, i = 2; when the lane type is a right-turn lane, i = 3;

[0019] Obtain target feature vectors of adjacent recording periods; determine in turn whether the angle between the target feature vectors of adjacent periods is less than a set angle threshold; the angle threshold is set based on experience; if yes, divide the adjacent recording periods into the same traffic period; if no, divide the adjacent recording periods into different traffic periods.

[0020] Preferably, generating the planned lane type of each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period includes:

[0021] Obtain the number of straight variable lanes, and generate a lane change vector set according to the number of variable lanes;

[0022] Obtaining target feature vectors of each recording period within the travel period, and generating a period feature vector corresponding to the travel period according to each target feature vector;

[0023] The planned lane type of each variable lane in the corresponding travel period is generated according to the time period feature vector and the lane change vector set.

[0024] Preferably, generating a lane change vector set according to the number of variable lanes includes:

[0025] The number of variable lanes is marked as KS; each variable lane is divided into a number of variable lane combinations including a variable number of left-turn lanes BC1k; a variable number of through lanes BC2k and a variable number of right-turn lanes BC3k; wherein BC1k+BC2k+BC3k=KS-1; BC1k, BC2k and BC3k are all natural numbers; k is the number of the variable lane combination;

[0026] According to the changed number of left-turn lanes BC1k, the changed number of through lanes BC2k and the changed number of right-turn lanes BC3k in each variable lane combination, the number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under the corresponding changed lane combination are obtained;

[0027] The number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under each variable lane combination are integrated into a variable lane vector BHk={ZC1k, ZC2k, ZC3k};

[0028] The lane change vectors corresponding to each variable lane combination are integrated into a lane change vector set.

[0029] Preferably, generating a time period feature vector corresponding to a traffic period according to each target traffic vector includes:

[0030] Obtain each target feature vector in the traffic period and mark it as DTn={DX1n, DX2n, DX3n}; n is the number of the target feature vector in the corresponding traffic period, n=1, 2, ..., N; N is the total number of target feature vectors in the corresponding traffic period;

[0031] According to each target feature vector in the travel time period, a time period feature vector ST={∑(DX1n) / N, ∑(DX2n) / N, ∑(DX3n) / N} of the corresponding travel time period is obtained.

[0032] Preferably, generating the planned lane type of each variable lane in the corresponding traffic period according to the period feature vector and the lane change vector set includes:

[0033] The angles between the time period feature vector and each lane change vector in the lane change vector set are calculated in sequence, and the lane change vector with the smallest angle is recorded as the target lane number;

[0034] The number of left-turn lanes, the number of through lanes, and the number of right-turn lanes corresponding to the target number of lanes are used as the number of left-turn lanes, the number of through lanes, and the number of right-turn lanes planned for the traffic period, respectively;

[0035] Number of left-turn lanes = number of planned left-turn lanes - 1;

[0036] Number of straight lane changes = number of straight lane plans;

[0037] Number of right-turn lanes = number of right-turn lanes planned - 1;

[0038] In order from left to right, the lanes with the number of left-turn change lanes are set as planned left-turn lanes; the lanes with the number of straight-through change lanes are set as planned straight-through lanes; the lanes with the number of right-turn change lanes are set as planned right-turn lanes; the planned lane types include planned left-turn lanes, planned straight-through lanes and planned right-turn lanes.

[0039] Preferably, the generating of a lane change signal for a corresponding lane in a corresponding traffic period according to the traffic period lane type and the planned lane type includes:

[0040] The lane type of each lane change during the traffic period and the planned lane type of the corresponding traffic period are obtained; when the lane type of the traffic period corresponding to the lane change and the planned lane type of the corresponding traffic period are different, a corresponding lane change signal is generated; the lane change signal includes a straight-to-left turn signal, a straight-to-right turn signal, a right turn straight-through signal, and a left turn straight-through signal, etc.

[0041] Preferably, the lane changing according to the lane traffic data and the lane change signal includes:

[0042] Extract the number of waiting vehicles from the lane traffic data corresponding to each lane that needs to change lanes; determine whether the number of waiting vehicles is less than the maximum passing vehicle data of the current corresponding lane type; if so, perform lane change at the end of this traffic light cycle according to the corresponding lane change signal; if not, generate a pre-change signal, and after the waiting vehicles have passed, perform lane change within the corresponding traffic light cycle according to the corresponding lane change signal.

[0043] Preferably, the lane change module is also used to synchronize the lane change signal, pre-change signal, change time and changed lane type corresponding to the lane change to the navigation software.

[0044] The present application sends the generated lane change signal to the navigation software, so as to notify the drivers who need to enter the corresponding intersection in advance and let them prepare in advance, thereby alleviating the traffic pressure at the corresponding intersection and reducing the probability of the driver entering the wrong lane after the lane change.

[0045] Compared with the prior art, the beneficial effects of this application are:

[0046] 1. The present application obtains the lane type of each lane in a traffic period; sets variable lanes according to the lane type; obtains historical traffic data of each recording period under several consecutive set recording dates; divides each recording period into several traffic periods according to the historical traffic data; generates planned lane types for each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period; obtains the traffic period lane type of the current traffic period; generates lane change signals for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type; obtains lane traffic data of each current lane; performs lane changes according to the lane traffic data; thereby realizing fully intelligent lane planning for intersections that require intelligent lanes; and improving the efficiency of variable lane planning on urban roads.

[0047] 2. This application sends the generated lane change signal to the navigation software, so as to notify the drivers who need to enter the corresponding intersection in advance and let them prepare in advance, thereby alleviating the traffic pressure at the corresponding intersection and reducing the probability of the driver entering the wrong lane after the lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 This is a schematic diagram of the principle of the intelligent lane changing system in this application;

[0050] Figure 2 This is a schematic diagram of the execution process of the intelligent lane change system in this application. DETAILED DESCRIPTION

[0051] The technical solution of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0052] See also Figure 1-Figure 2 , a first aspect of the present application provides an urban intelligent lane change system, comprising: a data acquisition module, a lane planning module, a lane change module and a database;

[0053] Data acquisition module: obtains lane traffic data of each lane through the data acquisition equipment connected thereto; the data acquisition equipment includes high-definition camera equipment and infrared equipment, etc.; is used to obtain the number of waiting vehicles in each lane; the lane traffic data includes the number of waiting vehicles in the corresponding lane;

[0054] Lane planning module; obtains historical traffic data of each recording period under several consecutive set recording dates through the database connected thereto; one day is one recording date, and the recording period is an integer multiple of one traffic light change period. The recording period in this embodiment is one traffic light change period; the historical traffic data includes the number of waiting vehicles in each lane within the corresponding recording period; the set recording date is the recording date of the number set before variable lane planning, such as the previous week, the previous month, etc.; divides each recording period into several traffic time periods according to the historical traffic data; the traffic time period is based on the historical data of each recent time period According to the law of historical traffic data, each recording period is divided into several traffic periods of the same nature, that is, the vehicle traffic conditions of each recording period in each traffic period are not much different; the lane type of each lane in the traffic period is obtained; the variable lane is set according to the lane type; according to different road planning, a suitable variable lane is set, and the variable lane is a lane whose lane traffic direction can be changed; according to the historical traffic data of each traffic period, the planned lane type of each variable lane of the corresponding traffic period is generated; the planned lane type is the lane type after the variable lane of the corresponding traffic period is planned according to the vehicle traffic law of the corresponding traffic period;

[0055] Lane change module: obtain the traffic period lane type of the current traffic period, the traffic period lane type is the lane type of each lane in the corresponding traffic period; generate a lane change signal for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type, the lane change is a signal generated when a variable lane changes lanes; and, obtain lane traffic data of each lane at present; and perform lane changes according to the lane traffic data.

[0056] It is understandable that the system can set an update time, such as performing variable lane planning once a week; updating the variable lane planning of each intersection by setting a specific time, and coordinating the historical traffic data under the continuous set recording date; the continuous set date should not be much different from the recording date of the update time; so that the variable lane planning can adapt to the current requirements of the intersection.

[0057] This embodiment obtains the lane type of each lane in a traffic period; sets variable lanes according to the lane type; obtains historical traffic data of each recording period under several consecutive set recording dates; divides each recording period into several traffic periods according to the historical traffic data; generates planned lane types for each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period; obtains the traffic period lane type of the current traffic period; generates a lane change signal for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type; obtains lane traffic data of each current lane; and changes lanes according to the lane traffic data, so as to realize fully intelligent lane planning for intersections that need to realize intelligent lanes, thereby improving the efficiency of variable lane planning on urban roads.

[0058] At the same time, an update date is set; the lanes at the intersection are planned in stages to increase the rationality and adaptability of lane planning.

[0059] Setting variable lanes according to lane types includes: obtaining the number of lanes of the same lane type of each lane type; the lane types include straight lanes, left turn lanes, and right turn lanes;

[0060] When the number of left-turn lanes is greater than 1, the left-turn lane farthest from the straight lane is set as an immutable lane, and the remaining left-turn lanes are marked as variable lanes; otherwise, the left-turn lane is set as an immutable lane;

[0061] When the number of right-turn lanes is greater than 1, the right-turn lane farthest from the through lane is set as an immutable lane, and the remaining right-turn lanes are marked as variable lanes; otherwise, the right-turn lane is set as an immutable lane;

[0062] When the number of left-turn variable lanes and right-turn variable lanes is not zero, all through lanes are set as variable lanes; otherwise, when the number of through lanes is greater than 1, all through lanes are marked as variable lanes, otherwise, the through lanes are marked as non-variable lanes.

[0063] That is, in this embodiment, when there are only three lanes, namely, a left-turn lane, a right-turn lane and a straight lane, no variable lanes are set; to ensure that there are lanes available for passage in all directions of the corresponding intersection; when there are repeated lanes, the repeated lanes are set as variable lanes; it can be understood that this embodiment is generally applicable to intersections.

[0064] According to the historical traffic data, each recording cycle is divided into several traffic time periods, including: extracting the lane type corresponding to each lane in the historical traffic data and the number of waiting vehicles corresponding to each lane, and marking them as DCij; wherein i is the number of different lane types, and j is the number of each lane in the corresponding lane type; the lane types include straight lanes, left-turn lanes and right-turn lanes; the waiting vehicle data is the difference between the number of vehicles entering the lane and the number of vehicles leaving the lane within one cycle of the signal light;

[0065] The target lane coefficient DXi corresponding to the lane type numbered i is calculated by the formula DXi=∑(DCij) / ZTSi; wherein ZTSi is the maximum number of vehicles passing through the lane type numbered i; due to the different green light durations of each lane and the different operations that the driver needs to perform, the number of vehicles passing through different lane types is different; the maximum number of vehicles passing through in this embodiment is the maximum number of vehicles passing through the corresponding lane within a traffic light cycle; to ensure the rationality of lane planning; at the same time, this embodiment calculates the target lane coefficient corresponding to each lane type through the above formula, and the target lane coefficient is the requirement for the number of lanes for all waiting vehicles of the corresponding lane type to pass through in one traffic light cycle within the recording period; for example, if there are 20 left-turning vehicles, and a maximum of 5 vehicles can pass through each traffic light cycle, the corresponding target lane coefficient is 4; it can be understood that the target lane coefficient is not limited to an integer.

[0066] The average value of the target lane coefficients of the same lane type corresponding to the same recording period on each recording date is obtained, marked as DXPi; and integrated into a target feature vector DT = {DXP1, DXP2, DXP3}; wherein, when the lane type is a left-turn lane, i = 1; when the lane type is a through lane, i = 2; when the lane type is a right-turn lane, i = 3;

[0067] Obtain target feature vectors of adjacent recording periods; determine in turn whether the angle between the target feature vectors of adjacent periods is less than a set angle threshold; the angle threshold is set based on experience, if yes, the adjacent recording periods are divided into the same traffic period; if no, the adjacent recording periods are divided into different traffic periods.

[0068] This embodiment obtains the angle between the target feature vectors of adjacent recording periods. When the angle is less than the set angle threshold, it indicates that the directions of the target feature vectors of the corresponding adjacent periods are basically consistent, that is, the ratios of the parameters in the two target feature vectors are basically consistent, that is, the ratios of the number of left-turning vehicles, the number of straight-going vehicles and the number of right-turning vehicles are consistent; the vehicle conditions in the two adjacent periods are similar, and the same variable lane planning method can be used.

[0069] The planned lane type of each variable lane in the corresponding traffic period is generated according to the historical traffic data of each traffic period, including: obtaining the number of straight variable lanes, and generating a lane change vector set according to the number of variable lanes; obtaining the target feature vector of each recording cycle in the traffic period, and generating a time period feature vector corresponding to the traffic period according to each target feature vector; generating the planned lane type of each variable lane in the corresponding traffic period according to the time period feature vector and the lane change vector set.

[0070] Generate a change lane vector set according to the number of variable lanes, including: marking the number of variable lanes as KS; dividing each variable lane into a number of change lane combinations of the number of left-turn lanes BC1k; the number of straight lanes BC2k and the number of right-turn lanes BC3k; wherein BC1k+BC2k+BC3k=KS-1; BC1k, BC2k and BC3k are all natural numbers; k is the serial number of the change lane combination; k=KS×(KS+1) / 2; it can be understood that the number of variable lanes in the present application is at least 2; the number of variable lanes in the present embodiment is 3. Due to the setting method of the variable lanes in the present embodiment, it is necessary to first fix a variable lane as a straight lane to ensure that there is a passable lane in the straight direction, and then divide the remaining number of variable lanes into a number of change lane combinations. There are 6 types of variable lane combinations in the present embodiment, which are:

[0071] BC11=0, BC21=0, BC31=2;

[0072] BC12=0, BC22=2, BC32=0;

[0073] BC13=2, BC23=0, BC33=0;

[0074] BC14=0, BC24=1, BC34=1;

[0075] BC15=1, BC25=0, BC35=1;

[0076] BC16=1, BC26=1, BC36=0;

[0077] If the number of variable lanes is 4, then the corresponding variable lane combinations are 10; the variable lane combination is a combination of dividing the remaining variable lanes after reserving a straight lane into a left-turn lane, a straight lane and a right-turn lane;

[0078] According to the changed number of left-turn lanes BC1k, the changed number of through lanes BC2k and the changed number of right-turn lanes BC3k in each variable lane combination, the number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under the corresponding changed lane combination are obtained;

[0079] The number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under each variable lane combination are integrated into a variable lane vector BHk={ZC1k, ZC2k, ZC3k};

[0080] This embodiment obtains the actual number of left-turn lanes, through lanes and right turns measured for each variable lane combination through the above formula; and integrates them into a lane change vector, which can represent the ratio of the actual number of left-turn lanes, through lanes and right turns measured for the corresponding variable lane combination;

[0081] The lane change vectors corresponding to each variable lane combination are integrated into a lane change vector set.

[0082] Generating a time period feature vector of a corresponding traffic period according to each target traffic vector, including: obtaining each target feature vector in the traffic period and marking it as DTn={DX1n, DX2n, DX3n}; n is the number of the target feature vector in the corresponding traffic period, n=1, 2, ..., N; N is the total number of the target feature vectors in the corresponding traffic period;

[0083] According to each target feature vector in the travel time period, a time period feature vector ST={∑(DX1n) / N, ∑(DX2n) / N, ∑(DX3n) / N} of the corresponding travel time period is obtained.

[0084] This embodiment calculates the central vector of each target feature vector of the same traffic period on each recording date as the period feature vector of the corresponding traffic period, which can better show the vehicle regularity of the corresponding traffic period.

[0085] Generate a planned lane type for each variable lane in the corresponding travel period according to the period feature vector and the lane change vector set, including: sequentially calculating the angles between the period feature vector and each lane change vector in the lane change vector set, and recording the lane change vector with the smallest angle as the target lane number;

[0086] This embodiment uses the lane change vector with the smallest angle of the time period feature vector as the target lane number; and uses the lane change vector with the most consistent direction with the time period feature vector as the target lane number, that is, the ratio of each parameter in the time period feature vector and the lane change vector is basically consistent, that is, the ratio of the number of left-turning vehicles, the number of straight-going vehicles and the number of right-turning vehicles is consistent; that is, after the lane change, the traffic light cycle required for the left-turning vehicle to complete the passage, the traffic light cycle required for the straight-going vehicle to complete the passage and the traffic light cycle required for the right-turning vehicle to complete the passage in the corresponding passage period is basically consistent; there will be no situation where there are no vehicles or few vehicles in a lane of a certain lane type, and the lane of another lane type is seriously congested, thereby improving the lane utilization rate.

[0087] The number of left-turn lanes, the number of through lanes, and the number of right-turn lanes corresponding to the target number of lanes are used as the number of left-turn lanes, the number of through lanes, and the number of right-turn lanes planned for the traffic period, respectively;

[0088] The number of left-turn lanes = the number of planned left-turn lanes - 1; the number of left-turn lanes is the number of lanes that need to be changed to left-turn lanes;

[0089] The number of lanes that need to be changed into straight lanes = the number of lanes that need to be changed into straight lanes.

[0090] The number of right-turn lanes = the number of planned right-turn lanes - 1; the number of right-turn lanes is the number of lanes that need to be changed into right-turn lanes;

[0091] In order from left to right, the lanes with the number of left-turn change lanes are set as planned left-turn lanes; the lanes with the number of straight-through change lanes are set as planned straight-through lanes; the lanes with the number of right-turn change lanes are set as planned right-turn lanes; the planned lane types include planned left-turn lanes, planned straight-through lanes and planned right-turn lanes.

[0092] In this embodiment, it is necessary to convert three variable lanes into one left-turn lane and two through lanes, that is, it is necessary to convert the variable lane close to the left-turn non-variable lane into a left-turn lane; and convert the two variable lanes close to the variable lane converted into the left-turn lane into through lanes.

[0093] A lane change signal for a corresponding lane in a corresponding traffic period is generated according to a traffic period lane type and a planned lane type, including: obtaining a traffic period lane type of each change lane and a planned lane type for the corresponding traffic period; when the traffic period lane type corresponding to the change lane and the planned lane type for the corresponding traffic period are different, a corresponding lane change signal is generated; the lane change signal includes a straight-through-left-turn signal, a straight-through-right-turn signal, a right-turn-straight-through signal, and a left-turn-straight-through signal, etc. When the traffic period lane type corresponding to the change lane is a straight-through lane and the planned lane type is a left turn, the generated lane change signal is a straight-through-left-turn signal.

[0094] Lane changing is performed according to lane traffic data and lane change signals, including: extracting the number of waiting vehicles in the lane traffic data corresponding to each lane that needs to be changed; judging whether the number of waiting vehicles is less than the maximum passing vehicle data of the current corresponding lane type; if so, performing lane change at the end of this traffic light cycle according to the corresponding lane change signal; if not, generating a pre-change signal; the pre-change signal is a signal to remind the corresponding lane that no other vehicles are allowed to enter, and after the waiting vehicles have passed, the lane change is performed within the corresponding traffic light cycle according to the corresponding lane change signal.

[0095] The lane change module is also used to synchronize the lane change signal, pre-change signal, change time and changed lane type corresponding to the lane change to the navigation software.

[0096] This embodiment sends the generated lane change signal to the navigation software, so as to notify the drivers who need to enter the corresponding intersection in advance and let them prepare in advance, thereby alleviating the traffic pressure at the corresponding intersection and reducing the probability of the driver entering the wrong lane after the lane change.

[0097] Part of the data in the above formula is calculated by removing the dimension and taking its numerical value. The formula is a formula closest to the actual situation obtained by software simulation of a large amount of collected data; the preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained through simulation of a large amount of data.

[0098] How this application works:

[0099] The present application obtains the lane type of each lane in a traffic period; sets variable lanes according to the lane type; obtains historical traffic data of each recording period under several consecutive set recording dates; divides each recording period into several traffic periods according to the historical traffic data; generates planned lane types for each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period; obtains the traffic period lane type of the current traffic period; generates lane change signals for the corresponding traffic period of the corresponding lane according to the traffic period lane type and the planned lane type; obtains lane traffic data of each current lane; changes lanes according to the lane traffic data; so as to realize fully intelligent lane planning for intersections that need to realize intelligent lanes, and improve the efficiency of variable lane planning on urban roads.

[0100] The above embodiments are only used to illustrate the technical method of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical method of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present application.

Claims

1. An urban intelligent lane changing system, comprising: Data acquisition module, lane planning module, lane change module and database; characterized in that, The data acquisition module is used to acquire lane traffic data of each lane through a data acquisition device connected thereto; The lane planning module; obtains an update date, and when the update date arrives, obtains historical traffic data of each recording period under several consecutive set recording dates through a database connected thereto; divides each recording period into several traffic periods according to the historical traffic data; obtains the lane type of each lane in the traffic period; sets a variable lane according to the lane type; generates a planned lane type for each variable lane in the corresponding traffic period according to the historical traffic data of each traffic period; The lane change module: obtains the lane type of the current traffic period; generates a lane change signal for the corresponding lane in the corresponding traffic period according to the traffic period lane type and the planned lane type; and obtains lane traffic data of each lane at present; and performs lane change according to the lane traffic data and the lane change signal.

2. The urban intelligent lane change system according to claim 1, characterized in that: The step of setting a variable lane according to the lane type includes: Obtaining the number of lanes of the same lane type of each lane; the lane types include through lanes, left-turn lanes, and right-turn lanes; When the number of left-turn lanes is greater than 1, the left-turn lane farthest from the straight lane is set as an immutable lane, and the remaining left-turn lanes are marked as variable lanes; otherwise, the left-turn lane is set as an immutable lane; When the number of right-turn lanes is greater than 1, the right-turn lane farthest from the through lane is set as an immutable lane, and the remaining right-turn lanes are marked as variable lanes; otherwise, the right-turn lane is set as an immutable lane; When the number of left-turn variable lanes and right-turn variable lanes is not zero, all through lanes are set as variable lanes; otherwise, when the number of through lanes is greater than 1, all through lanes are marked as variable lanes, otherwise, the through lanes are marked as non-variable lanes.

3. The urban intelligent lane changing system according to claim 1, characterized in that: The above-mentioned method of dividing each recording period according to the historical traffic data into several traffic time periods includes: The lane type and the number of waiting vehicles corresponding to each lane in the historical traffic data are extracted and marked as DCij; where i is the number of different lane types and j is the number of each lane in the corresponding lane type; The target lane coefficient DXi corresponding to the lane type numbered i is calculated by the formula DXi=∑(DCij) / ZTSi; wherein ZTSi is the maximum number of passing vehicles corresponding to the lane type numbered i; The average value of the target lane coefficients of the same lane type corresponding to the same recording period on each recording date is obtained, marked as DXPi; and integrated into a target feature vector DT = {DXP1, DXP2, DXP3}; wherein, when the lane type is a left-turn lane, i = 1; when the lane type is a through lane, i = 2; when the lane type is a right-turn lane, i = 3; Obtain target feature vectors of adjacent recording periods; determine in turn whether the angle between the target feature vectors of adjacent periods is less than a set angle threshold; if yes, divide the adjacent recording periods into the same traffic period; if no, divide the adjacent recording periods into different traffic periods.

4. The urban intelligent lane change system according to claim 1, characterized in that: The method of generating a planned lane type for each variable lane in a corresponding traffic period according to the historical traffic data of each traffic period includes: Obtain the number of straight variable lanes, and generate a lane change vector set according to the number of variable lanes; Obtaining target feature vectors of each recording period within a traffic period, and generating a time period feature vector corresponding to the traffic period according to each target feature vector; The planned lane type of each variable lane in the corresponding travel period is generated according to the time period feature vector and the lane change vector set.

5. The urban intelligent lane changing system according to claim 4, characterized in that: The generating of the lane change vector set according to the number of variable lanes comprises: The number of variable lanes is marked as KS; each variable lane is divided into a number of variable lane combinations including a variable number of left-turn lanes BC1k; a variable number of through lanes BC2k and a variable number of right-turn lanes BC3k; wherein BC1k+BC2k+BC3k=KS-1; BC1k, BC2k and BC3k are all natural numbers; k is the number of the variable lane combination; According to the changed number of left-turn lanes BC1k, the changed number of through lanes BC2k and the changed number of right-turn lanes BC3k in each variable lane combination, the number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under the corresponding changed lane combination are obtained; The number of left-turn lanes ZC1k=BC1k+1, the number of through lanes ZC2k=BC2k+1 and the number of right-turn lanes ZC3k=BC3k+1 under each variable lane combination are integrated into a variable lane vector BHk={ZC1k, ZC2k, ZC3k}; The lane change vectors corresponding to each variable lane combination are integrated into a lane change vector set.

6. The urban intelligent lane changing system according to claim 4, characterized in that: The step of generating a time period feature vector corresponding to a traffic period according to each target traffic vector includes: Obtain each target feature vector in the traffic period and mark it as DTn={DX1n, DX2n, DX3n}; n is the number of the target feature vector in the corresponding traffic period, n=1, 2, ..., N; N is the total number of target feature vectors in the corresponding traffic period; According to each target feature vector in the travel time period, a time period feature vector ST={∑(DX1n) / N, ∑(DX2n) / N, ∑(DX3n) / N} of the corresponding travel time period is obtained.

7. The urban intelligent lane changing system according to claim 4, characterized in that: The method of generating a planned lane type for each variable lane in a corresponding traffic period according to the period feature vector and the lane change vector set includes: The angles between the time period feature vector and each lane change vector in the lane change vector set are calculated in sequence, and the lane change vector with the smallest angle is recorded as the target lane number; The number of left-turn lanes, the number of through lanes, and the number of right-turn lanes corresponding to the target number of lanes are used as the number of left-turn lanes, the number of through lanes, and the number of right-turn lanes planned for the traffic period, respectively; Number of left-turn lanes = number of planned left-turn lanes - 1; Number of straight lane changes = number of straight lane plans; Number of right-turn lanes = number of right-turn lanes planned - 1; In order from left to right, the lanes with the number of left-turn change lanes are set as planned left-turn lanes; the lanes with the number of straight-through change lanes are set as planned straight-through lanes; the lanes with the number of right-turn change lanes are set as planned right-turn lanes; the planned lane types include planned left-turn lanes, planned straight-through lanes and planned right-turn lanes.

8. The urban intelligent lane changing system according to claim 1, characterized in that: The generating of a lane change signal for a corresponding lane in a corresponding traffic period according to the traffic period lane type and the planned lane type comprises: The lane type of each lane change during the traffic period and the planned lane type of the corresponding traffic period are obtained; when the lane type of the traffic period corresponding to the lane change and the planned lane type of the corresponding traffic period are different, a corresponding lane change signal is generated; the lane change signal includes a straight-to-left turn signal, a straight-to-right turn signal, a right turn straight-through signal and a left turn straight-through signal.

9. The urban intelligent lane changing system according to claim 1, characterized in that: The lane changing according to the lane traffic data and the lane change signal includes: Extract the number of waiting vehicles from the lane traffic data corresponding to each lane that needs to change lanes; determine whether the number of waiting vehicles is less than the maximum passing vehicle data of the current corresponding lane type; if so, perform lane change at the end of this traffic light cycle according to the corresponding lane change signal; if not, generate a pre-change signal, and after the waiting vehicles have passed, perform lane change within the corresponding traffic light cycle according to the corresponding lane change signal.

10. The urban intelligent lane change system according to claim 9, characterized in that: The lane change module is also used to synchronize the lane change signal, pre-change signal, change time and changed lane type corresponding to the lane change to the navigation software.

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