CN112863249A - Lane change early warning method and device for vehicle, vehicle and readable storage medium - Google Patents
Lane change early warning method and device for vehicle, vehicle and readable storage medium Download PDFInfo
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- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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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
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The embodiment of the invention provides a lane change early warning method and device for a vehicle, the vehicle and a readable storage medium, wherein the method comprises the following steps: when the first vehicle changes lanes, determining a first lane changing direction of the first vehicle; searching a corresponding secondary adjacent lane according to the first lane changing direction, and detecting the driving information of a second vehicle driving on the secondary adjacent lane; if the driving information is lane change information, determining a second lane change direction of the second vehicle; and if the first lane changing direction is opposite to the second lane changing direction, controlling the first vehicle to send an early warning signal. According to the embodiment of the invention, on the road with three or more lanes in the same direction, if the vehicles on the left lane and the right lane change to the middle lane, the vehicles are controlled to send out the early warning signal so as to avoid the collision and scraping accidents.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a lane change warning method for a vehicle, a lane change warning device for a vehicle, and a computer-readable storage medium.
Background
With the high-speed development of economy in China, the vehicle holding capacity is increased rapidly, the vehicle running performance is improved continuously, and the safety of vehicles is more and more emphasized by people. Vehicle lane change is one of the driving operations most likely to cause travel accidents. In recent years, various large vehicle enterprises have been engaged in the development of lane change assist systems, aiming at reducing traffic accidents, improving road traffic safety and enhancing road trafficability.
Due to the diversity and complexity of the actual driving road environment in real life, traffic accidents are easily caused by the lane change of vehicles.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are provided to provide a lane change warning method for a vehicle and a corresponding lane change warning apparatus for a vehicle, and a computer-readable storage medium that overcome or at least partially solve the above problems.
The embodiment of the invention discloses a lane change early warning method of a vehicle, which is applied to a first vehicle and comprises the following steps:
when the first vehicle changes lanes, determining a first lane changing direction of the first vehicle;
searching a corresponding secondary adjacent lane according to the first lane changing direction, and detecting the driving information of a second vehicle driving on the secondary adjacent lane;
if the driving information is lane change information, determining a second lane change direction of the second vehicle;
and if the first lane changing direction is opposite to the second lane changing direction, controlling the first vehicle to send an early warning signal.
Optionally, the detecting the driving information of the second vehicle driving on the secondary adjacent lane includes:
determining a detection distance range;
detecting the travel information of the second vehicle traveling on the secondary adjacent lane within the detection distance range.
Optionally, if the first lane change direction is opposite to the second lane change direction, controlling the first vehicle to send an early warning signal includes:
if the first lane changing direction is opposite to the second lane changing direction, judging whether the first vehicle and the second vehicle have collision risks;
and if the first vehicle and the second vehicle are judged to have the collision risk, controlling the first vehicle to send the early warning signal.
Optionally, the determining whether the first vehicle and the second vehicle have a collision risk includes:
and judging whether the difference value of the first vehicle speed information of the first vehicle and the second vehicle speed information of the second vehicle is smaller than a preset speed difference threshold value or not, and/or judging whether the longitudinal distance information between the first vehicle and the second vehicle is smaller than a preset longitudinal distance threshold value or not.
Optionally, the determining the second lane change direction of the second vehicle if the driving information includes turn signal information, lateral speed information, and road surface information includes:
and if the turn signal state corresponding to the turn signal information is a lighting state, or if the transverse speed corresponding to the transverse speed information is greater than a preset transverse speed threshold value, or if the road surface driving state corresponding to the road surface information is a line pressing driving state, determining the second lane changing direction of the second vehicle.
Optionally, if the first lane change direction is opposite to the second lane change direction, controlling the first vehicle to send an early warning signal includes:
if the first lane changing direction is opposite to the second lane changing direction, determining an early warning direction according to the first lane changing direction;
determining a corresponding early warning strategy according to the early warning direction;
and controlling the first vehicle to send the early warning signal according to the early warning strategy.
Optionally, the first vehicle includes vehicle-mounted terminal and alarm lamp, the early warning signal includes image warning signal and scintillation warning signal, control first vehicle sends early warning signal, include:
and controlling the vehicle-mounted terminal to display the image warning signal and controlling the alarm lamp to send the flashing warning signal.
The embodiment of the invention also discloses a lane change early warning device of the vehicle, which is applied to a first vehicle, and the device comprises:
the first determining module is used for determining a first lane changing direction of the first vehicle when the first vehicle changes lanes;
the detection module is used for searching a corresponding secondary adjacent lane according to the first lane changing direction and detecting the driving information of a second vehicle driving on the secondary adjacent lane;
the second determining module is used for determining a second lane changing direction of the second vehicle if the driving information is lane changing information;
and the control module is used for controlling the first vehicle to send an early warning signal if the first lane changing direction is opposite to the second lane changing direction.
Optionally, the detection module includes:
the first determining submodule is used for determining a detection distance range;
and the detection submodule is used for detecting the driving information of the second vehicle driving on the secondary adjacent lane within the detection distance range.
Optionally, the control module includes:
the judgment submodule is used for judging whether the first vehicle and the second vehicle have collision risks or not if the first lane changing direction is opposite to the second lane changing direction;
and the first control submodule is used for controlling the first vehicle to send the early warning signal if the first vehicle and the second vehicle are judged to have the collision risk.
Optionally, the determining sub-module includes:
the judging unit is used for judging whether the difference value of the first vehicle speed information of the first vehicle and the second vehicle speed information of the second vehicle is smaller than a preset speed difference threshold value or not, and/or judging whether the longitudinal distance information between the first vehicle and the second vehicle is smaller than a preset longitudinal distance threshold value or not.
Optionally, the driving information includes turn signal information, lateral speed information, and road surface information, and the second determining module includes:
and the second determining submodule is used for determining the second lane changing direction of the second vehicle if the steering lamp state corresponding to the steering lamp information is a lighting state, or if the transverse speed corresponding to the transverse speed information is greater than a preset transverse speed threshold value, or the road surface driving state corresponding to the road surface information is a line pressing driving state.
Optionally, the control module includes:
the third determining submodule is used for determining an early warning direction according to the first lane changing direction if the first lane changing direction is opposite to the second lane changing direction;
the fourth determining submodule is used for determining a corresponding early warning strategy according to the early warning direction;
and the second control submodule is used for controlling the first vehicle to send the early warning signal according to the early warning strategy.
Optionally, the first vehicle includes vehicle mounted terminal and alarm lamp, the early warning signal includes image warning signal and scintillation warning signal, control module includes:
and the third control sub-module is used for controlling the vehicle-mounted terminal to display the image warning signal and controlling the alarm lamp to send the flickering warning signal.
The embodiment of the invention also discloses a vehicle, which comprises: a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing the steps of a lane change warning method for a vehicle as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the lane change early warning method of the vehicle are realized.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when a first vehicle changes lanes, a first lane changing direction corresponding to the first vehicle is determined, a corresponding next adjacent lane is searched according to the first lane changing direction, the running information of a second vehicle running on the next adjacent lane is detected, if the running information is lane changing information, a second lane changing direction of the second vehicle is determined, and if the first lane changing direction is opposite to the second lane changing direction, namely, the first vehicle and the second vehicle both change lanes to an intermediate lane, the first vehicle is controlled to send an early warning signal to a user. By adopting the method, on the road with three or more lanes in the same direction, if the vehicles on the left and right lanes change to the middle lane, the vehicles are controlled to send out early warning signals so as to avoid the collision and scraping accidents.
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FIG. 1 is a flowchart illustrating steps of a lane-change warning method for a vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of another lane change warning method for a vehicle according to an embodiment of the present invention;
3A-3F are schematic diagrams of models for a vehicle lane change warning according to embodiments of the present invention;
fig. 4 is a block diagram of a lane change warning device of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of them. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
When the left and right vehicles change lanes to the middle lane, the collision and scraping accidents are easily caused.
Based on this, the present invention intends to provide a lane change warning method of a vehicle and a corresponding lane change warning device of a vehicle, and a computer readable storage medium that overcome or at least partially solve the above problems.
One of the core ideas of the embodiment of the invention is that when a first vehicle changes lanes, a first lane changing direction corresponding to the first vehicle is determined, a corresponding next adjacent lane is searched according to the first lane changing direction, the running information of a second vehicle running on the next adjacent lane is detected, if the running information is lane changing information, a second lane changing direction of the second vehicle is determined, and if the first lane changing direction is opposite to the second lane changing direction, namely the first vehicle and the second vehicle both change lanes to an intermediate lane, the first vehicle is controlled to send an early warning signal to a user. By adopting the method, on the road with three or more lanes in the same direction, if the vehicles on the left and right lanes change to the middle lane, the vehicles are controlled to send out early warning signals so as to avoid the collision and scraping accidents.
Referring to fig. 1, a flowchart of steps of a lane change warning method for a vehicle according to an embodiment of the present invention is shown, where the method is applied to a first vehicle, and specifically may include the following steps:
In the embodiment of the present invention, for convenience of distinction, a vehicle currently controlled by a user is named a first vehicle, and other vehicles except the first vehicle are named second vehicles. When a first vehicle controlled by a user makes a lane change, a corresponding lane change direction may be determined, where the lane change direction includes a left lane change and a right lane change.
And 102, searching a corresponding secondary adjacent lane according to the first lane changing direction, and detecting the driving information of a second vehicle driving on the secondary adjacent lane.
Searching a corresponding secondary adjacent lane according to the first lane changing direction, specifically, searching a secondary adjacent lane on the left side when the first lane changing direction is a left lane changing direction; and when the first lane changing direction is lane changing to the right, searching the next adjacent lane on the right side. After the corresponding secondary adjacent lane is determined, the travel information of the second vehicle traveling therein may be detected.
And 103, if the running information is lane change information, determining a second lane change direction of the second vehicle.
If the traveling information of the second vehicle is lane change information, that is, if the second vehicle also performs lane change, the lane change direction of the second vehicle is determined.
And 104, if the first lane changing direction is opposite to the second lane changing direction, controlling the first vehicle to send an early warning signal.
If the first lane changing direction of the first vehicle is opposite to the second lane changing direction of the second vehicle, namely, the two vehicles change lanes to the middle lane, the first vehicle can be controlled to send early warning information at the moment so as to remind a user that the risk of collision and scratch of the two vehicles exists currently, and the user can select to pause lane changing.
In summary, in the embodiment of the present invention, when a first vehicle changes lanes, a first lane changing direction corresponding to the first vehicle is determined, a corresponding next adjacent lane is searched according to the first lane changing direction, driving information of a second vehicle driving on the next adjacent lane is detected, if the driving information is lane changing information, a second lane changing direction of the second vehicle is determined, and if the first lane changing direction and the second lane changing direction are opposite, that is, both the first vehicle and the second vehicle change lanes to an intermediate lane, the first vehicle is controlled to send an early warning signal to a user. By adopting the method, on the road with three or more lanes in the same direction, if the vehicles on the left and right lanes change to the middle lane, the vehicles are controlled to send out early warning signals so as to avoid the collision and scraping accidents.
Referring to fig. 2, a flowchart illustrating steps of another lane change warning method for a vehicle according to an embodiment of the present invention is shown, where the method is applied to a first vehicle, and specifically may include the following steps:
In an embodiment of the invention, the current driving road of the first vehicle has a plurality of lanes, and when the first vehicle changes lanes, a first lane change direction of the first vehicle is determined.
With respect to step 202, the following sub-steps may be included:
and a substep S11 of determining a detection distance range.
A substep S12 of detecting the travel information of the second vehicle traveling on the secondary adjacent lane within the detection distance range.
In the embodiment of the present invention, after determining the corresponding secondary adjacent lane according to the first lane changing direction of the first vehicle, the detection distance range may be determined first, and then the driving information of the second vehicle is acquired within the detection distance range.
The driving information includes turn signal information, lateral speed information, road surface information, and the like. Judging whether the driving information is lane change information, specifically, the following steps can be executed:
and if the turn signal state corresponding to the turn signal information is a lighting state, or if the transverse speed corresponding to the transverse speed information is greater than a preset transverse speed threshold value, or if the road surface driving state corresponding to the road surface information is a line pressing driving state, determining the second lane changing direction of the second vehicle.
In practical applications, when it is detected that a steering lamp of the second vehicle is activated, or the lateral speed of the second vehicle is greater than a lateral speed threshold corresponding to lane changing, or the camera recognizes that the second vehicle is pressing a line to run, it may be determined that the second vehicle is also performing lane changing, and at this time, a second lane changing direction corresponding to the second vehicle may be determined.
And 204, if the first lane changing direction is opposite to the second lane changing direction, judging whether the first vehicle and the second vehicle have collision risks.
If the first lane change direction and the second lane change direction are opposite, indicating that both the first vehicle and the second vehicle are changing lanes to the center lane between them, then it may be further determined whether both are at risk of collision.
And if the first vehicle and the second vehicle are determined to have the collision risk, controlling the first vehicle to send an early warning signal to the user, and reminding the user to pause lane changing or perform other corresponding treatment.
With respect to step 205, it is determined whether there is a collision risk between two vehicles, specifically, the following sub-steps may be performed:
and a substep S21 of determining whether a difference between the first vehicle speed information of the first vehicle and the second vehicle speed information of the second vehicle is less than a preset speed difference threshold, and/or determining whether longitudinal distance information between the first vehicle and the second vehicle is less than a preset longitudinal distance threshold.
In practical application, it can be determined whether the speed difference value between the two vehicles is smaller than a preset speed difference threshold value or whether the longitudinal distance between the two vehicles is smaller than a preset longitudinal distance threshold value, so as to determine whether there is a collision risk between the two vehicles. Wherein, the longitudinal distance refers to the relative distance between the two vehicles in the advancing direction. The longitudinal distance information may be provided by a radar of the vehicle, and the longitudinal distance threshold value determines a reasonable threshold range based on the body length of the vehicle and the vehicle speed. And if the conditions are met, controlling the vehicle to give out an early warning.
Furthermore, the first vehicle is controlled to send a warning signal, in one case the following steps can be performed:
if the first lane changing direction is opposite to the second lane changing direction, determining an early warning direction according to the first lane changing direction; determining a corresponding early warning strategy according to the early warning direction; and controlling the first vehicle to send the early warning signal according to the early warning strategy.
In the embodiment of the invention, when it is determined that both the first vehicle and the second vehicle change lanes to the middle lane, the early warning direction may be determined according to the first lane change direction of the first vehicle, for example, if the first vehicle changes lanes to the left, the corresponding early warning direction may be determined as a left side warning; if the first vehicle changes lane to the right, the corresponding early warning direction is right-side warning, a corresponding early warning strategy is determined according to the warning direction, and the first vehicle is controlled to carry out early warning according to the strategy.
Different early warning directions correspond to different early warning strategies. In a lane change early warning strategy of a vehicle, when the early warning direction is left side warning, a left side blind area of a vehicle instrument displays early warning ripples, a vehicle model corresponding to a second vehicle in a vehicle-mounted large screen displays red, and a left side warning lamp of the vehicle is controlled to flash; when the early warning direction is right side warning, the right side blind area of vehicle instrument shows early warning ripple, and the vehicle model that the second vehicle corresponds in the on-vehicle large-size screen shows for red, and the right side alarm lamp of control vehicle twinkles.
The first vehicle comprises a vehicle-mounted terminal and an alarm lamp, the early warning signal comprises an image warning signal and a flicker warning signal, the first vehicle is controlled to send the early warning signal, and the following steps can be executed:
and controlling the vehicle-mounted terminal to display the image warning signal and controlling the alarm lamp to send the flashing warning signal.
In the embodiment of the invention, the first vehicle can send the image warning signal and the flashing warning signal, the image warning signal can be used for reminding a user, and the flashing warning signal can be used for reminding surrounding vehicles.
In order to enable those skilled in the art to better understand steps 201 to 205 of the embodiment of the present invention, the following description is made by way of an example:
referring to fig. 3A-3F, schematic diagrams of models of the lane change warning of the vehicle according to the embodiment of the invention are shown. In the figure, a white vehicle is a first vehicle, a vehicle A is a second vehicle, and as shown in FIG. 3A, when the first vehicle changes lane to the right, if it is detected that the second vehicle on the next adjacent lane behind the right has the intention of changing lane to the left and the longitudinal distance between the two vehicles is smaller than the preset longitudinal distance threshold, the first vehicle sends a lane change early warning; as shown in fig. 3B, when the first vehicle changes lane to the right, if it is detected that the second vehicle on the next adjacent lane at the front right has the intention of changing lane to the left and the longitudinal distance between the two vehicles is smaller than the preset longitudinal distance threshold, the first vehicle sends a lane change warning at this time; as shown in fig. 3C, when the first vehicle changes lane to the right, if it is detected that the second vehicle on the next adjacent lane right has an intention to change lane to the left, the first vehicle sends a lane change warning; as shown in fig. 3D, when the first vehicle changes lane to the left, if it is detected that the second vehicle on the next adjacent lane behind the left has the intention to change lane to the right, and the longitudinal distance between the two vehicles is smaller than the preset longitudinal distance threshold, the first vehicle sends a lane change warning at this time; as shown in fig. 3E, when the first vehicle changes lane to the left, if it is detected that the second vehicle on the next adjacent lane in front of the left has the intention to change lane to the right, and the longitudinal distance between the two vehicles is smaller than the preset longitudinal distance threshold, the first vehicle sends a lane change warning at this time; as shown in fig. 3F, when the first vehicle changes lane to the left, if it is detected that the second vehicle on the right-left next adjacent lane has the intention to change lane to the right, the first vehicle sends a lane change warning.
In summary, in the embodiment of the present invention, when a first vehicle changes lanes, a first lane changing direction corresponding to the first vehicle is determined, a corresponding next adjacent lane is searched according to the first lane changing direction, driving information of a second vehicle driving on the next adjacent lane is detected, if the driving information is lane changing information, a second lane changing direction of the second vehicle is determined, and if the first lane changing direction and the second lane changing direction are opposite, that is, both the first vehicle and the second vehicle change lanes to an intermediate lane, the first vehicle is controlled to send an early warning signal to a user. By adopting the method, on the road with three or more lanes in the same direction, if the vehicles on the left and right lanes change to the middle lane, the vehicles are controlled to send out early warning signals so as to avoid the collision and scraping accidents.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a lane change warning device of a vehicle according to an embodiment of the present invention is shown, and is applied to a first vehicle, and specifically includes the following modules:
a first determining module 401, configured to determine a first lane changing direction of the first vehicle when the first vehicle changes lanes;
a detecting module 402, configured to search a corresponding secondary adjacent lane according to the first lane change direction, and detect driving information of a second vehicle driving on the secondary adjacent lane;
a second determining module 403, configured to determine a second lane change direction of the second vehicle if the driving information is lane change information;
and a control module 404, configured to control the first vehicle to send an early warning signal if the first lane change direction is opposite to the second lane change direction.
In an embodiment of the present invention, the detection module includes:
the first determining submodule is used for determining a detection distance range;
and the detection submodule is used for detecting the driving information of the second vehicle driving on the secondary adjacent lane within the detection distance range.
In an embodiment of the present invention, the control module includes:
the judgment submodule is used for judging whether the first vehicle and the second vehicle have collision risks or not if the first lane changing direction is opposite to the second lane changing direction;
and the first control submodule is used for controlling the first vehicle to send the early warning signal if the first vehicle and the second vehicle are judged to have the collision risk.
In an embodiment of the present invention, the determining sub-module includes:
the judging unit is used for judging whether the difference value of the first vehicle speed information of the first vehicle and the second vehicle speed information of the second vehicle is smaller than a preset speed difference threshold value or not, and/or judging whether the longitudinal distance information between the first vehicle and the second vehicle is smaller than a preset longitudinal distance threshold value or not.
In an embodiment of the present invention, the driving information includes turn signal information, lateral speed information, and road surface information, and the second determining module includes:
and the second determining submodule is used for determining the second lane changing direction of the second vehicle if the steering lamp state corresponding to the steering lamp information is a lighting state, or if the transverse speed corresponding to the transverse speed information is greater than a preset transverse speed threshold value, or the road surface driving state corresponding to the road surface information is a line pressing driving state.
In an embodiment of the present invention, the control module includes:
the third determining submodule is used for determining an early warning direction according to the first lane changing direction if the first lane changing direction is opposite to the second lane changing direction;
the fourth determining submodule is used for determining a corresponding early warning strategy according to the early warning direction;
and the second control submodule is used for controlling the first vehicle to send the early warning signal according to the early warning strategy.
In an embodiment of the present invention, the first vehicle includes a vehicle-mounted terminal and an alarm lamp, the early warning signal includes an image warning signal and a flashing warning signal, and the control module includes:
and the third control sub-module is used for controlling the vehicle-mounted terminal to display the image warning signal and controlling the alarm lamp to send the flickering warning signal.
In summary, in the embodiment of the present invention, when a first vehicle changes lanes, a first lane changing direction corresponding to the first vehicle is determined, a corresponding next adjacent lane is searched according to the first lane changing direction, driving information of a second vehicle driving on the next adjacent lane is detected, if the driving information is lane changing information, a second lane changing direction of the second vehicle is determined, and if the first lane changing direction and the second lane changing direction are opposite, that is, both the first vehicle and the second vehicle change lanes to an intermediate lane, the first vehicle is controlled to send an early warning signal to a user. By adopting the method, on the road with three or more lanes in the same direction, if the vehicles on the left and right lanes change to the middle lane, the vehicles are controlled to send out early warning signals so as to avoid the collision and scraping accidents.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including: the processor, the memory and the computer program stored in the memory and capable of running on the processor, wherein when executed by the processor, the computer program implements each process of the embodiment of the lane change warning method for the vehicle, and can achieve the same technical effect, and the details are not repeated here to avoid repetition.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes each process of the embodiment of the lane change warning method for the vehicle, can achieve the same technical effect, and is not repeated here to avoid repetition.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The lane change warning method for a vehicle, the lane change warning device for a vehicle, the vehicle and the computer-readable storage medium provided by the invention are described in detail, and specific examples are applied in the description to explain the principles and embodiments of the invention, and the description of the above embodiments is only used to help understand the method and the core ideas of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A lane change warning method for a vehicle, applied to a first vehicle, the method comprising:
when the first vehicle changes lanes, determining a first lane changing direction of the first vehicle;
searching a corresponding secondary adjacent lane according to the first lane changing direction, and detecting the driving information of a second vehicle driving on the secondary adjacent lane;
if the driving information is lane change information, determining a second lane change direction of the second vehicle;
and if the first lane changing direction is opposite to the second lane changing direction, controlling the first vehicle to send an early warning signal.
2. The method of claim 1, wherein the detecting travel information of a second vehicle traveling on the secondary adjacent lane comprises:
determining a detection distance range;
detecting the travel information of the second vehicle traveling on the secondary adjacent lane within the detection distance range.
3. The method of claim 1, wherein controlling the first vehicle to send a warning signal if the first lane change direction and the second lane change direction are opposite comprises:
if the first lane changing direction is opposite to the second lane changing direction, judging whether the first vehicle and the second vehicle have collision risks;
and if the first vehicle and the second vehicle are judged to have the collision risk, controlling the first vehicle to send the early warning signal.
4. The method of claim 3, wherein the determining whether the first vehicle and the second vehicle are at risk of collision comprises:
and judging whether the difference value of the first vehicle speed information of the first vehicle and the second vehicle speed information of the second vehicle is smaller than a preset speed difference threshold value or not, and/or judging whether the longitudinal distance information between the first vehicle and the second vehicle is smaller than a preset longitudinal distance threshold value or not.
5. The method of claim 1, wherein the driving information includes turn signal information, lateral speed information, and road surface information, and wherein determining a second lane change direction of the second vehicle if the driving information is lane change information comprises:
and if the turn signal state corresponding to the turn signal information is a lighting state, or if the transverse speed corresponding to the transverse speed information is greater than a preset transverse speed threshold value, or if the road surface driving state corresponding to the road surface information is a line pressing driving state, determining the second lane changing direction of the second vehicle.
6. The method of claim 1, wherein controlling the first vehicle to send a warning signal if the first lane change direction and the second lane change direction are opposite comprises:
if the first lane changing direction is opposite to the second lane changing direction, determining an early warning direction according to the first lane changing direction;
determining a corresponding early warning strategy according to the early warning direction;
and controlling the first vehicle to send the early warning signal according to the early warning strategy.
7. The method of claim 1, wherein the first vehicle comprises an on-board terminal and an alarm lamp, wherein the warning signal comprises an image warning signal and a flashing warning signal, and wherein controlling the first vehicle to transmit the warning signal comprises:
and controlling the vehicle-mounted terminal to display the image warning signal and controlling the alarm lamp to send the flashing warning signal.
8. A lane-change warning device for a vehicle, applied to a first vehicle, the device comprising:
the first determining module is used for determining a first lane changing direction of the first vehicle when the first vehicle changes lanes;
the detection module is used for searching a corresponding secondary adjacent lane according to the first lane changing direction and detecting the driving information of a second vehicle driving on the secondary adjacent lane;
the second determining module is used for determining a second lane changing direction of the second vehicle if the driving information is lane changing information;
and the control module is used for controlling the first vehicle to send an early warning signal if the first lane changing direction is opposite to the second lane changing direction.
9. A vehicle, characterized by comprising: processor, memory and computer program stored on and executable on said memory, said computer program when executed by said processor implementing the steps of a method of lane change warning for a vehicle as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method of lane change warning for a vehicle according to any one of claims 1 to 7.
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| CN112863249B (en) | 2022-08-16 |
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Application publication date: 20210528 Assignee: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Assignor: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Contract record no.: X2022980014506 Denomination of invention: A vehicle lane change warning method, device, vehicle and readable storage medium Granted publication date: 20220816 License type: Common License Record date: 20220905 |
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Effective date of registration: 20240226 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |