CN114684128A - Lane change warning method, lane change warning device, vehicle, and storage medium - Google Patents

Lane change warning method, lane change warning device, vehicle, and storage medium Download PDF

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Publication number
CN114684128A
CN114684128A CN202011591762.5A CN202011591762A CN114684128A CN 114684128 A CN114684128 A CN 114684128A CN 202011591762 A CN202011591762 A CN 202011591762A CN 114684128 A CN114684128 A CN 114684128A
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China
Prior art keywords
vehicle
information
lane
state information
early warning
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CN202011591762.5A
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Chinese (zh)
Inventor
刘志峰
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Qoros Automotive Co Ltd
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Qoros Automotive Co Ltd
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Priority to CN202011591762.5A priority Critical patent/CN114684128A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a lane change early warning method for a vehicle. The lane change early warning method comprises the following steps: acquiring lane line information of a current driving lane; acquiring first state information of a vehicle; acquiring second state information of surrounding vehicles of the vehicle; and performing lane change early warning on the vehicle according to the lane line information, the first state information and the second state information. According to the lane change early warning method, lane change early warning is carried out on the vehicle by acquiring the lane line information, the first state information of the vehicle and the second state information of surrounding vehicles, the accuracy of the lane change early warning of the vehicle can be improved, driving safety is guaranteed, the number of times of emergency braking or emergency acceleration in the driving process can be reduced by carrying out the lane change early warning, riding comfort is improved, and user experience is optimized. The application also discloses a lane change early warning device, a vehicle and a storage medium.

Description

Lane change warning method, lane change warning device, vehicle, and storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a lane change warning method, a lane change warning device, a vehicle, and a storage medium for a vehicle.
Background
When a vehicle changes lanes, it is necessary to observe vehicles in a plurality of lanes in front of the vehicle and in a plurality of lanes behind the vehicle at the same time, and lane change is possible when safety is judged. The advanced vehicle driving assistance system may assist the user in making the above determination. However, in the related art, when the advanced driving assistance system of the vehicle performs lane change early warning on the vehicle, false early warning, repeated early warning or delayed early warning, etc. are easy to occur, which affects driving safety.
Disclosure of Invention
In view of this, embodiments of the present application provide a lane change warning method and apparatus for a vehicle, and a storage medium.
The application provides a lane change early warning method for a vehicle, which comprises the following steps:
acquiring lane line information of a current driving lane;
acquiring first state information of the vehicle;
acquiring second state information of vehicles around the vehicle;
and performing lane change early warning on the vehicle according to the lane line information, the first state information and the second state information.
In some embodiments, the acquiring the currently driving lane line information includes:
acquiring a lane line image acquired by a vehicle camera;
and processing the lane line image according to a preset model to obtain the lane line information, wherein the lane line information comprises the curvature, the length and/or the width of a road.
In some embodiments, the obtaining the first state information of the vehicle comprises:
acquiring vehicle motion information acquired by a vehicle inertia measurement system;
acquiring vehicle position information acquired by a positioning system;
and carrying out fusion processing on the vehicle motion information and the vehicle position information to obtain first state information of the vehicle.
In some embodiments, the acquiring second state information of the vehicle around the vehicle includes:
and fusing the position information and/or the speed information of the surrounding vehicle relative to the vehicle, which are acquired by a plurality of vehicle-mounted radars in the vehicle radar system, to acquire the second state information.
In some embodiments, the lane change warning method further includes:
and updating the track information of the surrounding vehicles according to the second state information.
In some embodiments, the performing the lane change warning on the vehicle according to the lane line information, the first state information, and the second state information includes:
determining relative information of the surrounding vehicle relative to the vehicle according to the track information, wherein the relative information comprises relative position information, relative speed information and relative distance information;
and determining whether the vehicle has risks during lane changing according to a preset lane changing early warning model and the relative information.
In some embodiments, the performing the lane change warning on the vehicle according to the lane line information, the first state information, and the second state information includes:
and generating corresponding early warning information to carry out vehicle lane change early warning on the user under the condition that the vehicle lane change has risks.
The application provides a lane change early warning device, lane change early warning device includes:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring lane line information of a current driving lane, acquiring first state information of a vehicle and acquiring second state information of vehicles around the vehicle;
and the early warning module is used for carrying out lane change early warning on the vehicle according to the lane line information, the first state information and the second state information.
The application provides a vehicle, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is used for realizing the lane change early warning method of the vehicle in any embodiment when executing the computer program.
One or more non-transitory computer-readable storage media storing a computer program that, when executed by one or more processors, implements a lane change warning method for a vehicle according to any of the embodiments described above.
According to the lane change early warning method, the lane change early warning device, the vehicle and the storage medium of the vehicle, lane change early warning is performed on the vehicle by acquiring lane line information, first state information of the vehicle and second state information of surrounding vehicles, accuracy of the lane change early warning of the vehicle can be improved, driving safety is ensured, the number of times of emergency braking or emergency acceleration in the driving process can be reduced by performing the lane change early warning, riding comfort is improved, and user experience is optimized.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a lane change warning method for a vehicle according to some embodiments of the present disclosure.
FIG. 2 is a schematic illustration of a vehicle according to certain embodiments of the present application.
Fig. 3 is a block diagram of a lane-change warning device according to some embodiments of the present disclosure.
Fig. 4 is a schematic flow chart of a lane change warning method according to some embodiments of the present disclosure.
Fig. 5 is a schematic flow chart of a lane change warning method according to some embodiments of the present disclosure.
Fig. 6 is a schematic flow chart of a lane change warning method according to some embodiments of the present disclosure.
Fig. 7 is a schematic flow chart of a lane change warning method according to some embodiments of the present disclosure.
Fig. 8 is a schematic flow chart of a lane change warning method according to some embodiments of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
Referring to fig. 1, the present application provides a lane change warning method for a vehicle, including:
s10: acquiring lane line information of a current driving lane;
s20: acquiring first state information of a vehicle;
s30: acquiring second state information of surrounding vehicles of the vehicle;
s40: and performing lane change early warning on the vehicle according to the lane line information, the first state information and the second state information.
Referring to fig. 2, the present embodiment provides a vehicle 100. The vehicle 100 comprises a processor 12 and a memory 14, the memory 14 storing a computer program 16, the computer program 16 when executed by the processor 12 implementing: the method comprises the steps of obtaining lane line information of a current driving lane, obtaining first state information of a vehicle 100, obtaining second state information of vehicles around the vehicle 100, and carrying out lane change early warning on the vehicle 100 according to the lane line information, the first state information and the second state information. The processor 12 may be a processor 12 that is independently provided for initializing the vehicle 100, or may be a processor 12 of a driving system of the vehicle 100, which is not limited herein.
Referring to fig. 3, a lane change warning device 110 is further provided in the embodiment of the present application, and the lane change warning method of the vehicle 100 in the embodiment of the present application may be implemented by the lane change warning device 110. The lane-change warning device 110 includes an acquisition module 112 and a warning module 114. S10-S30 may be implemented by the acquisition module 112, and S40 may be implemented by the early warning module 114. In other words, the obtaining module 112 is used for obtaining lane line information of a current driving lane, and for obtaining first state information of the vehicle 100, and for obtaining second state information of vehicles around the vehicle 100. The early warning module 114 is configured to perform lane change early warning on the vehicle according to the lane line information, the first state information, and the second state information.
Specifically, the lane change warning is to detect vehicles in adjacent or close lanes and determine whether the current vehicle 100 has a risk when changing lanes under the condition that the current vehicle 100 is driving in a lane change, so as to perform the lane change warning on the current vehicle 100 and guarantee driving safety. In the related art, an Advanced Driving Assistance System (ADAS) of a vehicle is often used for assisting and determining, however, when the ADAS performs lane change warning on the vehicle 100, false warning, repeated warning, delayed warning, or the like is likely to occur, and since the types and the number of sensors used for the lane change warning of the vehicle 100 are insufficient, and there is no corresponding data supplement when data is missing, the error rate of the vehicle lane change warning is high.
In the lane change warning method, the lane change warning device 110, the vehicle 100 and the storage medium of the vehicle according to the embodiment of the application, the lane change warning is performed on the current vehicle 100 by acquiring the lane line information, the first state information of the current vehicle 100 and the second state information of surrounding vehicles, so that the accuracy of the lane change warning of the vehicle can be improved, the driving safety is ensured, the number of times of emergency braking or emergency acceleration in the driving process can be reduced by performing the lane change warning, the riding comfort can be improved, and the user experience is optimized.
Referring to fig. 4, in some embodiments, S10 includes:
s11: acquiring a lane line image acquired by a vehicle camera;
s12: and processing the lane line image according to a preset model to obtain lane line information.
In certain embodiments, S11 and S12 may be implemented by the obtaining module 112. In other words, the obtaining module 112 is configured to obtain the lane line image collected by the vehicle camera, and process the lane line image according to a preset model to obtain the lane line information.
In some embodiments, the processor 12 is configured to acquire the lane line image captured by the vehicle camera, and to process the lane line image according to a preset model to obtain the lane line information.
Specifically, the vehicle camera captures a lane line around the current vehicle 100, and the captured lane line image may include the lane line and the position of the lane line and the current vehicle 100. The lane line and the position of the current vehicle 100 may indicate whether the current vehicle 100 is in a lane without making a lane change, or the current vehicle 100 is changing lanes to the left, or the current vehicle 100 is changing lanes to the right.
And processing the lane line image according to a preset model to obtain lane line information. The preset model may be any model capable of performing Machine learning, for example, a Support Vector Machine (SVM) model, or a Convolutional Neural Network (CNN) model, and is not limited specifically. The process of processing the lane line includes, but is not limited to: and extracting, fitting, tracking, removing false images and the like of the lane line images. The extraction is to extract lane line parameters from the acquired lane line images, the fitting is to fit a plurality of extracted lane line parameters to generate a dynamically changing lane line, the tracking is to dynamically compare the generated lane line with the lane line in the lane line images, and the removing the false is to remove unreasonable lane line parameters in the comparison to generate lane line information.
The lane line information includes curvature, position, length, and/or width of the current road. The vehicle 100 can carry out lane change early warning on the current vehicle 100 according to the lane line information, the first state information of the current vehicle 100 and the second state information of surrounding vehicles, so that the accuracy of the lane change early warning of the vehicle is improved, and the driving safety is ensured.
In some embodiments, the vehicle camera acquires a lane line image around the current vehicle 100, and if the current vehicle 100 does not intersect with the lane line in the lane line image, it may be considered that the current vehicle 100 is not changing lanes at present. And extracting, fitting, tracking and removing false lane line images according to the CNN model to obtain lane line information. The lane line information includes the curvature, position, length and/or width of the current road, and may be used to subsequently predict whether the current vehicle 100 changes lanes or predict whether the surrounding vehicles change lanes.
Therefore, the lane line can be accurately detected, the accuracy of the lane change early warning of the vehicle is improved, and the driving safety is ensured.
Referring to fig. 5, in some embodiments, S20 includes:
s21: acquiring vehicle motion information acquired by a vehicle inertia measurement system;
s22: acquiring vehicle position information acquired by a positioning system;
s23: the vehicle motion information and the vehicle position information are subjected to fusion processing to obtain first state information of the vehicle 100.
In certain embodiments, S21-S23 may be implemented by the acquisition module 112. In other words, the obtaining module 112 is configured to obtain vehicle motion information collected by the vehicle inertia measurement system, obtain vehicle position information collected by the positioning system, and perform fusion processing on the vehicle motion information and the vehicle position information to obtain first state information of the vehicle.
In some embodiments, the processor 12 is configured to obtain vehicle motion information collected by the vehicle inertia measurement system, obtain vehicle position information collected by the positioning system, and perform a fusion process on the vehicle motion information and the vehicle position information to obtain first state information of the vehicle.
Specifically, vehicle motion information may be collected by a vehicle inertia measurement system, and vehicle position information collected by a vehicle positioning system. The vehicle motion information includes information representing the motion state of the current vehicle 100, such as the current speed, acceleration, and course angle at which the vehicle 100 is traveling, and the vehicle inertia measurement system may be a gyroscope, an inertia measurement unit, and other systems capable of acquiring the current vehicle motion information, which is not limited specifically. The vehicle position information may refer to the position of the current vehicle 100, and the position of the current vehicle 100 may be obtained through a positioning system such as a global positioning system, a beidou satellite navigation system, and/or a glonass system, which is not limited specifically.
The vehicle motion information and the vehicle position information are fused, and the first state information of the current vehicle 100 can be obtained by combining the lane line information of the current driving lane. The first state information may refer to a relative position, a relative speed, and a relative distance between the current vehicle 100 and the lane line.
In some embodiments, the vehicle camera collects lane line images of the current driving lane, and the vehicle 100 processes the lane line images according to a preset model to obtain lane line information. The inertial measurement unit collects motion information of the current vehicle 100, and the global positioning system collects position information of the current vehicle 100. The vehicle 100 obtains first state information of the current vehicle 100 according to the lane line information, the motion information of the current vehicle 100, and the position information of the current vehicle 100, where the first state information is: the current vehicle 100 travels toward the left side in the current traveling lane, is closer to the left lane line of the current traveling lane, and has a smaller relative speed with the lane line of the current traveling lane. It can be predicted that the current vehicle 100 is likely to change lanes to the left.
Therefore, the method can realize the accurate prediction of whether the current vehicle 100 intends to change lanes, improve the accuracy of the lane change early warning of the vehicle and ensure the driving safety. And the lane change early warning can reduce the times of emergency braking or emergency acceleration in the driving process, improve the riding comfort and optimize the user experience.
Referring to fig. 6, in some embodiments, S30 includes:
s31: and fusing the position information and/or the speed information of the surrounding vehicle relative to the vehicle 100, which are acquired by a plurality of vehicle-mounted radars in the vehicle radar system, to acquire second state information.
In some embodiments, S31 may be implemented by acquisition module 112. In other words, the obtaining module 112 is configured to fuse the position information and/or the speed information of the surrounding vehicle collected by the plurality of onboard radars in the vehicle radar system with respect to the vehicle 100 to obtain the second state information.
In some embodiments, the processor 12 is configured to fuse the position information and/or velocity information of the surrounding vehicle collected by the plurality of onboard radars in the vehicle radar system with respect to the vehicle 100 to obtain the second status information.
Specifically, the vehicle-mounted radar in the vehicle radar system may be a combination of one or more radars of a laser radar and a millimeter wave radar, and may also be a combination of one or more radars of a laser radar and a millimeter wave radar and a camera system, which is not limited specifically. The vehicle-mounted radar may be provided in front of and on both sides of the current vehicle 100 for detecting position information and/or speed information of surrounding vehicles with respect to the current vehicle 100.
The vehicle-mounted radar system collects position information and/or speed information of surrounding vehicles relative to the current vehicle 100, and performs fusion processing on the position information and/or the speed information of the surrounding vehicles to obtain second state information of the surrounding vehicles. The second state information may be position information and/or speed information of the fusion-processed peripheral vehicle with respect to the current vehicle 100, and compared with the relative position and relative speed before processing, the second state information has abnormal data and error data removed therefrom.
Therefore, whether the surrounding vehicles intend to change lanes can be accurately predicted, the lane change early warning accuracy of the vehicles is improved, and driving safety is guaranteed. And the lane change early warning can reduce the times of emergency braking or emergency acceleration in the driving process, improve the riding comfort and optimize the user experience.
In some embodiments, the lane change warning method includes:
s50: and updating the track information of the surrounding vehicles according to the second state information.
In some embodiments, S50 may be implemented by the early warning module 114. In other words, the early warning module 114 is configured to update the track information of the surrounding vehicles according to the second status information.
In some embodiments, the processor 12 is configured to update the trajectory information of the surrounding vehicles based on the second status information.
Specifically, the trajectory information of the surrounding vehicles may be updated according to the second state information, and the target vehicles among the surrounding vehicles may be screened out. Here, the target vehicle may refer to a vehicle that travels in the same direction as the current vehicle 100 and may collide with the current vehicle 100.
In some embodiments, the vehicle radar system collects position information and velocity information of the surrounding vehicle relative to the current vehicle 100, and the obtained second state information of the surrounding vehicle a is: the surrounding vehicle a is on the left side of the current vehicle 100, and the running speed is high. According to the second state information of the surrounding vehicle A acquired for multiple times, updating the track information of the surrounding vehicle A as follows: the surrounding vehicle a is behind the current vehicle 100 on the left and closer to the current vehicle 100, and it may be preliminarily determined that the surrounding vehicle a may make a lane change.
In other embodiments, the vehicle radar system collects position information and velocity information of the surrounding vehicle relative to the current vehicle 100, and the obtained second state information of the surrounding vehicle B is: the surrounding vehicle B is on the left side of the current vehicle 100, and the running speed is slow. According to the second state information of the surrounding vehicle B acquired for multiple times, updating the track information of the surrounding vehicle B as follows: if the surrounding vehicle B is located at the left rear of the current vehicle 100 and is located at a greater distance from the current vehicle 100, it may be preliminarily determined whether the lane change of the surrounding vehicle B does not affect the current vehicle 100.
Therefore, whether the surrounding vehicles intend to change lanes can be accurately predicted, the lane change early warning accuracy of the vehicles is improved, and driving safety is guaranteed. And the lane change early warning can reduce the times of emergency braking or emergency acceleration in the driving process, improve the riding comfort and optimize the user experience.
Referring to fig. 7, in some embodiments, S40 includes:
s41: determining relative information of the surrounding vehicle with respect to the vehicle 100 based on the trajectory information;
s42: and determining whether the vehicle 100 has risks during lane changing according to a preset lane changing early warning model and relative information.
In certain embodiments, S41 and S42 may be implemented by the early warning module 114. In other words, the warning module 114 is configured to determine relative information of the surrounding vehicle with respect to the vehicle 100 according to the trajectory information, and determine whether there is a risk in changing the lane of the vehicle 100 according to a preset lane change warning model and the relative information.
In some embodiments, the processor 12 is configured to determine relative information of the surrounding vehicle with respect to the vehicle 100 according to the trajectory information, and determine whether there is a risk in changing lanes of the vehicle 100 according to a preset lane-change warning model and the relative information.
Specifically, relative information of the surrounding vehicle with respect to the vehicle 100 is determined from the trajectory information, wherein the relative information includes relative position information, relative speed information, and relative distance information of the surrounding vehicle. For example, from the trajectory information of the surrounding vehicle a, the relative information of the surrounding vehicle a with respect to the current vehicle 100 is determined as: a is at the left rear of the current vehicle 100, a is relatively stationary with the current vehicle 100, a is 80 meters from the current vehicle 100.
Further, the relative information may also include the absolute speed of the surrounding vehicle, the number of tracking times, and the like. Wherein the number of tracking refers to the number of times the surrounding vehicle is located within the detection range of the radar system of the current vehicle 100. For example, the detection range of the radar system is 170 meters, the surrounding vehicle a is 200 meters away from the current vehicle 100 at an initial time, and then the surrounding vehicle a accelerates to a position 100 meters away from the current vehicle 100 and then decelerates until 200 meters away from the current vehicle 100. The number of times that the surrounding vehicle a is located within the detection range of the radar system of the current vehicle 100 is 1, the number of tracking times of the surrounding vehicle a is 1.
And after the relative information is obtained, determining whether the current vehicle 100 has a risk or not when changing lanes according to a preset lane changing early warning model and the relative information. The preset lane change early warning model may be any model capable of performing machine learning, for example, an SVM model, or a CNN model, and is not limited specifically. The lane change early warning model is used for screening surrounding vehicles and removing relative information of the surrounding vehicles which do not have risks to the current vehicle 100.
In some embodiments, the relative information of the surrounding vehicle a with respect to the current vehicle 100 is that a is in front of and to the left of the current vehicle 100, that a is-20 kilometers per hour with respect to the current vehicle 100, and that a is 80 meters away from the current vehicle 100. The relative information of the surrounding vehicle B with respect to the current vehicle 100 is that B is in front of the left of the current vehicle 100, the speed of B with respect to the current vehicle 100 is 40 km/hour, and B is 120 meters away from the current vehicle 100. The lane change early warning model screens out the surrounding vehicles A with risks to the current vehicle 100 according to the relative information, and judges that the current vehicle 100 has risks in changing lanes to the left according to the relative information of the surrounding vehicles A.
Further, the lane-change warning model may also determine whether there is a risk to the current vehicle 100 when the surrounding vehicles change lanes. In some embodiments, the relative information of the surrounding vehicle a with respect to the current vehicle 100 is that a is in front of and to the left of the current vehicle 100, that a is-20 kilometers per hour with respect to the current vehicle 100, and that a is 80 meters away from the current vehicle 100. At this time, the lane change early warning model judges that the current vehicle 100 does not need to travel in a lane change mode, and further judges that the surrounding vehicle a may possibly perform lane change according to the relative information of the surrounding vehicle a, and the surrounding vehicle a has a risk to the current vehicle.
Therefore, multiple information can be fused to realize the accurate prediction of whether the surrounding vehicles intend to change lanes, the accuracy of the lane change early warning of the vehicles is improved, and the driving safety is ensured. And the lane changing early warning can reduce the times of emergency braking or emergency acceleration in the driving process, improve the riding comfort and optimize the user experience.
Referring to fig. 8, in some embodiments, S40 includes:
s43: and generating corresponding early warning information to carry out vehicle lane change early warning on the user under the condition that the vehicle 100 has a risk in lane change.
In some embodiments, S43 may be implemented by the early warning module 114. In other words, the early warning module 114 is configured to generate corresponding early warning information to perform a vehicle lane change early warning on the user when there is a risk in the vehicle 100 performing a lane change.
In some embodiments, the processor 12 is configured to generate corresponding warning information to warn the user of the lane change of the vehicle in case there is a risk of the lane change of the vehicle 100.
Specifically, under the condition that the vehicle lane change is in risk, corresponding early warning information is generated to carry out vehicle lane change early warning on a user. The lane change warning to the current vehicle 100 may be performed by displaying warning information on a large screen in the vehicle 100, performing corresponding warning prompt in a head-up display area of the vehicle 100, or performing auxiliary reminding by using lights in the vehicle, which is not limited specifically.
In some embodiments, it is determined that there is a risk that the current vehicle 100 changes lanes to the left according to the lane change warning model and the relative information of the surrounding vehicles, that is, the relative distance between the surrounding vehicle a and the current vehicle 100 is less than the preset minimum lane change safety distance, and then the warning information is displayed on a large screen in the current vehicle 100: there is a risk of changing lanes to the left, please drive cautiously.
Therefore, appropriate early warning information can be accurately formulated according to the vehicle condition, and lane change early warning is carried out on the user in multiple modes, so that the road condition of the user is reminded, and driving safety is ensured.
The embodiment of the application also provides a computer readable storage medium. One or more non-transitory computer-readable storage media storing a computer program that, when executed by one or more processors, implements the lane-change warning method of the vehicle 100 of any of the embodiments described above.
The embodiment of the application also provides a vehicle. The vehicle includes a memory and one or more processors, one or more programs being stored in the memory and configured to be executed by the one or more processors. The program includes instructions for executing the lane change warning method for a vehicle according to any one of the above embodiments.
The processor may be used to provide computational and control capabilities to support the operation of the entire vehicle. The memory of the vehicle provides an environment for the computer readable instructions in the memory to operate.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by hardware instructions of a computer program, which may be stored in one or more non-volatile computer-readable storage media, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A lane change early warning method of a vehicle is characterized by comprising the following steps:
acquiring lane line information of a current driving lane;
acquiring first state information of the vehicle;
acquiring second state information of vehicles around the vehicle;
and performing lane change early warning on the vehicle according to the lane line information, the first state information and the second state information.
2. The lane-change warning method according to claim 1, wherein the acquiring of the currently driving lane line information comprises:
acquiring a lane line image acquired by a vehicle camera;
and processing the lane line image according to a preset model to obtain the lane line information, wherein the lane line information comprises the curvature, the length and/or the width of a road.
3. The lane-change warning method according to claim 1, wherein the obtaining first state information of the vehicle comprises:
acquiring vehicle motion information acquired by a vehicle inertia measurement system;
acquiring vehicle position information acquired by a positioning system;
and carrying out fusion processing on the vehicle motion information and the vehicle position information to obtain first state information of the vehicle.
4. The lane-change warning method according to claim 1, wherein the acquiring second state information of vehicles around the vehicle comprises:
and fusing position information and/or speed information of the surrounding vehicle relative to the vehicle, which is acquired by a plurality of vehicle-mounted radars in the vehicle radar system, to acquire the second state information.
5. The lane-change warning method according to claim 4, further comprising:
and updating the track information of the surrounding vehicles according to the second state information.
6. The lane-change warning method according to claim 5, wherein the performing the lane-change warning on the vehicle according to the lane line information, the first state information, and the second state information comprises:
determining relative information of the surrounding vehicle relative to the vehicle according to the track information, wherein the relative information comprises relative position information, relative speed information and relative distance information;
and determining whether the vehicle has risks during lane changing according to a preset lane changing early warning model and the relative information.
7. The lane-change warning method according to claim 6, wherein the performing the lane-change warning on the vehicle according to the lane line information, the first state information, and the second state information comprises:
and generating corresponding early warning information to carry out vehicle lane change early warning on the user under the condition that the vehicle lane change has risks.
8. The lane change early warning device is characterized by comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring lane line information of a current driving lane, acquiring first state information of a vehicle and acquiring second state information of vehicles around the vehicle;
and the early warning module is used for carrying out lane change early warning on the vehicle according to the lane line information, the first state information and the second state information.
9. A vehicle comprising a memory storing a computer program and a processor configured to implement the lane-change warning method of the vehicle of any one of claims 1-7 when the computer program is executed by the processor.
10. One or more non-transitory computer-readable storage media storing a computer program, wherein the computer program, when executed by one or more processors, implements the lane-change warning method for a vehicle of any one of claims 1-7.
CN202011591762.5A 2020-12-29 2020-12-29 Lane change warning method, lane change warning device, vehicle, and storage medium Pending CN114684128A (en)

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