CN111409649A - Early warning method and device for vehicle lane change, computer equipment and storage medium - Google Patents

Early warning method and device for vehicle lane change, computer equipment and storage medium Download PDF

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Publication number
CN111409649A
CN111409649A CN201910007942.5A CN201910007942A CN111409649A CN 111409649 A CN111409649 A CN 111409649A CN 201910007942 A CN201910007942 A CN 201910007942A CN 111409649 A CN111409649 A CN 111409649A
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current vehicle
lane
warning
information
acquiring
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CN201910007942.5A
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CN111409649B (en
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唐帅
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Audi AG
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Audi AG
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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
    • 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
    • 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
    • B60W40/06—Road 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
    • 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
    • B60W40/10—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 vehicle motion
    • B60W40/105—Speed
    • 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
    • B60W2050/143—Alarm means
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

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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 relates to a vehicle lane change early warning method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane; and if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning. And when the current vehicle tries to change to the target lane, if the deviation information of the current vehicle does not match with the limiting condition of the target lane, the control warning device sends out violation warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of a user is guaranteed.

Description

Early warning method and device for vehicle lane change, computer equipment and storage medium
Technical Field
The present application relates to the field of traffic technologies, and in particular, to a method and an apparatus for warning lane change of a vehicle, a computer device, and a computer-readable storage medium.
Background
With the development of society, vehicles are more and more popular in the technical field of traffic. In order to improve the driving safety of vehicles, roads are generally divided into different types of lanes, such as fast lanes, slow lanes, and emergency lanes, so that drivers can safely and regularly drive vehicles on the roads.
In the conventional technology, when a driver selects to change lanes during the driving of a vehicle, the driver usually judges whether the lane change is possible by manually watching traffic signs on the road or according to personal habits. However, the judgment result of the driver is often inaccurate, so that the driver is easy to generate violation behaviors in the driving process.
Therefore, the traditional method for changing lanes has the problem of low accuracy.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for warning lane change of a vehicle, a computer device, and a computer-readable storage medium, which can improve the lane change accuracy, in order to solve the technical problem of low lane change accuracy.
A method of warning of a lane change in a vehicle, the method comprising:
acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane;
and if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning.
In one embodiment, the deviation information includes attribute information, and the restriction condition includes a lane type;
if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning, and the warning instruction comprises the following steps:
acquiring attribute information in the deviation information and acquiring a lane type in the restriction condition;
and if the attribute information does not match the lane type, outputting the warning instruction.
In one embodiment, the deviation information includes a current vehicle speed, and the limitation condition includes speed limit information;
if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning, and the method further comprises the following steps:
acquiring the current vehicle speed in the deviation information and acquiring the speed limit information in the limiting condition;
and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information includes:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
In one embodiment, the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information further includes:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is less than the lowest speed limit, outputting the warning instruction.
In one embodiment, the method further comprises:
acquiring first time for the current vehicle to reach the position of the speed measuring device from the current position;
acquiring second time required by the current vehicle to adjust the current vehicle speed to the speed limit of the target lane;
calculating to obtain a third time according to the first time and the second time;
and if the current vehicle determines that the current vehicle tries to change from the original lane to the target lane within the third time, outputting a return instruction, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
In one embodiment, the method further comprises:
acquiring the position information of the current vehicle;
and determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
In one embodiment, the step of acquiring the deviation information of the current vehicle from the original lane and the step of acquiring the restriction condition of the target lane are preceded by the steps of:
acquiring the state information of the current vehicle;
and if the state information of the current vehicle meets a preset condition, determining that the current vehicle tries to change from an original lane to the target lane.
In one embodiment, the step of determining that the current vehicle attempts to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition includes:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle crosses the lane line, determining that the current vehicle tries to change from the original lane to the target lane.
In one embodiment, the step of determining that the current vehicle attempts to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition further includes:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from the original lane to the target lane.
A lane-change warning device for a vehicle, the device comprising:
the information acquisition module is used for acquiring the deviation information of the current vehicle from the original lane and acquiring the restriction condition of the target lane;
and the warning output module is used for outputting a warning instruction if the deviation information is not matched with the limiting condition, and the warning instruction is used for controlling a warning device to give out a warning.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any of the methods described above when the processor executes the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
According to the vehicle lane change early warning method and device, the computer equipment and the computer readable storage medium, when the current vehicle tries to change to the target lane, if the deviation information of the current vehicle does not match with the limiting conditions of the target lane, the warning device is controlled to give out violation warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of a user is guaranteed.
Drawings
FIG. 1 is a diagram illustrating an exemplary embodiment of an early warning method for lane change of a vehicle;
FIG. 2 is a schematic flow chart illustrating an early warning method for lane change of a vehicle according to an embodiment;
FIG. 3 is a flowchart illustrating the steps of comparing attribute information of a current vehicle to a lane type of a target lane in one embodiment;
FIG. 4 is a flowchart illustrating the steps of comparing the current vehicle speed of the current vehicle with the speed limit information of the target lane in one embodiment;
FIG. 5 is a schematic flow chart illustrating a warning method for lane change of a vehicle according to another embodiment;
FIG. 6 is a flowchart illustrating the steps of determining an original lane and an adjacent lane in which a current vehicle is located in one embodiment;
FIG. 7 is a flowchart illustrating the steps for determining that a current vehicle is attempting to change from an origin lane to a target lane in one embodiment;
FIG. 8 is a block diagram showing the construction of a lane-change warning device for a vehicle according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The execution main body of the early warning method for vehicle lane change provided by the embodiment of the application can be the early warning device for vehicle lane change related in the following embodiment. Alternatively, the early warning device may be implemented by software, hardware or a combination of software and hardware. Alternatively, the early warning device may be a part of the device integrated in the electronic apparatus, or may be a separate electronic apparatus. It is clear that the execution subject of the vehicle lane change warning method provided by the present application is not limited as long as the warning purpose can be achieved.
In one embodiment, the method for warning of lane change of a vehicle provided by the present application can be applied to an application environment as shown in fig. 1. The application environment comprises a vehicle lane change early warning device 100, an image acquisition device 200 and a warning device 300. Alternatively, the early warning device 100, the image capture device 200, and the warning device 300 may be installed in the current vehicle. Of course, the warning device 100, the image capturing device 200, and the warning device 300 may be installed in other locations than the vehicle, as long as the functions of the devices are realized.
Optionally, the warning apparatus 100 may also be disposed in a cloud server (Online server). The early warning apparatus 100 may be a personal computer, a laptop, a smart phone, a tablet computer, a portable wearable device, or some apparatus in a vehicle, such as a central control device, a driving assistance device, a vehicle machine, or a navigation device.
Specifically, when the current vehicle runs on a certain road, the image capturing device 200 is configured to capture image information of the current vehicle during running. Wherein the image information may include lane information including a restriction condition for each lane. When the early warning device 100 determines that the current vehicle attempts to change from the original lane to the target lane, the early warning device 100 is configured to acquire departure information of the current vehicle from the original lane in real time, and acquire the restriction condition of the target lane through the image capturing device 200. If the deviation information does not match the limit condition, the warning device 100 issues a warning instruction to the warning device 300, so that the warning device 300 issues a warning.
In one embodiment, as shown in fig. 2, a method for warning of lane change of a vehicle is provided, and is described by taking the method as an example of being applied to the warning apparatus 100 in fig. 1. Wherein the early warning device 100 is installed on the current vehicle. The method specifically comprises the following steps:
s202, acquiring the deviation information of the current vehicle from the original lane and acquiring the restriction condition of the target lane.
The original lane refers to a lane where the current vehicle is located before the current vehicle changes lanes. The target lane refers to the lane that the current vehicle is attempting to change. Optionally, the target lane is adjacent to the original lane. The deviation information refers to information generated in the course of changing lanes of the current vehicle, and may include attribute information of the current vehicle and speed information of the current vehicle. The restriction condition includes a traffic regulation of the target lane. The attribute information of the current vehicle may include characteristic information representing the current vehicle, such as a vehicle type, a license plate number, a vehicle color, and the like.
Specifically, the image acquisition device acquires and stores the restriction conditions of the target lane in real time. When the early warning device determines that the current vehicle tries to change from the original lane to the target lane, the early warning device acquires departure information of the current vehicle from the original lane in real time, and acquires the restriction condition of the target lane from the image acquisition device.
Alternatively, the condition that the current vehicle attempts to change to the target lane may be set in advance, so that the early warning device may determine that the current vehicle attempts to change from the original lane to the target lane when the current vehicle actually travels once the actual traveling state satisfies the preset condition. The setting of the above conditions can be achieved, for example, by means of the steering angle of the steering wheel.
And S204, if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning.
Specifically, the early warning device matches the deviation information with the corresponding constraint condition. If the early warning device judges that the deviation information is not matched with the corresponding limiting condition, namely when the current vehicle changes to the target lane in the current state and violates the passing regulation of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out violation warning.
Further, the manner of violation warning includes, but is not limited to, a visual warning manner, an audible warning manner, or a tactile warning manner.
According to the vehicle lane change early warning method, when the current vehicle tries to change to the target lane, if the deviation information of the current vehicle does not match with the limiting condition of the target lane, the warning device is controlled to give out violation warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of a user is guaranteed.
As a specific embodiment, in the current vehicle, the manner of warning includes a visual warning manner, an auditory warning manner, and a tactile warning manner, and a combination of a plurality of warning manners is adopted, for example, outputting a warning image, emitting a warning voice, or triggering vibration, etc., so that the timeliness of emitting warning information can be ensured, and the user can be assisted to quickly react, so that the current vehicle does not violate traffic regulations.
Further, the visual warning means may include adding speed limit information on the in-vehicle display screen. Audible warning means may include voice broadcasting of speed limit information, such as "caution! Speed limit of the right lane is 100 km/h! The current speed is 115 km/h ". The tactile alert means may comprise generating a vibration signal to the user.
In one embodiment, please refer to fig. 3, which relates to a specific process of issuing a violation warning if the attribute information of the current vehicle does not match the lane type of the target lane. Specifically, S204 includes the steps of:
s2042, acquiring attribute information in the deviation information, and acquiring a lane type in the restriction condition;
s2044, if the attribute information does not match the lane type, outputting the warning instruction.
The deviation information of the current vehicle includes attribute information of the current vehicle, and the attribute information of the current vehicle may include a current vehicle type, such as a car, a bus, a truck, a bus, and the like. The restriction conditions of the target lane include lane types of the target lane, such as a exclusive lane and an emergency lane, and the like.
Specifically, the early warning device matches the attribute information of the current vehicle with the lane type of the target lane. And if the attribute information of the current vehicle is not matched with the lane type of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out violation warning.
The above embodiments are described here by way of a simple example. The special lanes may include bus special lanes, and it is generally specified that some numbers written on the bus special lanes are bus special time, and other vehicles must not walk. If the current vehicle is a car, the car tries to change to the bus lane within the bus-exclusive time, and because the car does not meet the condition of driving on the bus-exclusive lane within the bus-exclusive time, namely the attribute information of the current vehicle is not matched with the lane type of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out violation warning.
In another embodiment, please refer to fig. 4, which relates to a specific process of issuing a violation warning if the speed information of the current vehicle does not match the speed limit information of the target lane. Specifically, S204 further includes the steps of:
s2041, acquiring the current vehicle speed in the deviation information, and acquiring the speed limit information in the limit condition;
and S2043, if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
The deviation information of the current vehicle comprises the speed information of the current vehicle, and the speed information comprises the current speed of the current vehicle. The restriction condition of the target lane includes speed limit information of the target lane, such as a highest speed limit and a lowest speed limit.
Specifically, the early warning device matches the current speed of the current vehicle with the speed limit information of the target lane. And if the current speed of the current vehicle is not matched with the speed limit information of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out violation warning.
Optionally, the early warning device may directly obtain the current vehicle speed of the current vehicle, or may indirectly obtain the current vehicle speed of the current vehicle through the vehicle speed measuring device, which is not limited herein. The current speed of the current vehicle can be displayed through the speedometer, so that a user can conveniently watch the current speed.
Further, the speed limit information of the target lane may be acquired by an image acquisition device, and optionally, the image acquisition device is a front camera. The early warning device acquires the speed limit information of the target lane from the image acquisition device. Wherein, the speed limit information can comprise the speed limit of different road sections. Furthermore, the early warning device can store the speed limit information so as to facilitate subsequent calling.
According to the method for warning lane change of a vehicle, if the current vehicle attempts to change to the target lane, if the current vehicle speed of the current vehicle is determined not to meet the condition of speed limit of the target lane, the warning device is controlled to give an overspeed warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the accuracy of lane changing of the vehicle can be improved and the personal safety of a user can be guaranteed.
As an implementation manner, taking the speed limit information as the highest speed limit as an example, S2043 includes the following steps:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
Specifically, the early warning device compares the current vehicle speed with the highest speed limit. If the early warning device determines that the current speed of the current vehicle is greater than the highest speed limit, the early warning device sends an early warning control signal to the warning device, so that the warning device is controlled to send out overspeed warning.
As another embodiment, taking the speed limit information as the lowest speed limit as an example, S2043 further includes the following steps:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is less than the lowest speed limit, outputting the warning instruction.
Specifically, the early warning device compares the current vehicle speed with the lowest speed limit. If the early warning device determines that the current vehicle speed of the current vehicle is less than the lowest speed limit, the early warning device sends an early warning control signal to the warning device, and therefore the warning device is controlled to send out violation warnings.
In one embodiment, the automatic steering function is triggered to further ensure that the current vehicle does not violate traffic regulations. Referring to fig. 5, specifically, the method further includes the following steps:
s302, acquiring first time for the current vehicle to reach the position of the speed measuring device from the current position;
s304, acquiring second time required by the current vehicle to adjust the current vehicle speed to the speed limit of the target lane;
s306, calculating to obtain a third time according to the first time and the second time;
s308, if the current vehicle is determined to try to change from the original lane to the target lane within the third time, outputting a return instruction, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
Specifically, in S302, the speed measuring device is the speed measuring device located in front of the current vehicle and closest to the current vehicle. The speed measuring device may comprise a monitoring camera.
In S304, the acceleration involved in the speed adjustment of the current vehicle is an acceleration value during the normal running of the current vehicle. Alternatively, the acceleration may be set in advance and stored in the present vehicle. For example, the acceleration may be set to 2m/s2Or-2 m/s2。
To explain the embodiment more clearly, let T be the first time1The distance between the current position of the current vehicle and the position of the speed measuring device is X1The current speed of the current vehicle is V1Then T is1＝X1/V1。
Let the second time be T2The speed limit of the target lane is V2If the preset acceleration of the vehicle is a, T2＝(V1-V2)/a。
Let the third time be T3Then T is3＝T1+T2。
Therefore, if the current vehicle is at T3And in time, the early warning device determines that the current vehicle tries to change to a target lane, determines that the current speed of the current vehicle does not meet the speed limiting condition, and sends a steering control signal to a steering control system, so that the steering control system guides the current vehicle to return to the original lane according to the steering control signal.
More specifically, directing the current vehicle back to the original lane may be an automatic occurrence of the current vehicle, including: the early warning device starts a control steering signal to the control steering system through the controller, for example, the control steering signal is controlled to turn 30 degrees to the left, and then the control steering system utilizes the steering motor to output power to control the steering wheel of the current vehicle to turn 30 degrees to the left.
In the embodiment, the third time is set to assist the current vehicle to change back to the original lane and send out overspeed warning to remind the user, so that the early warning measures are more perfect, the current vehicle is further ensured not to violate traffic regulations, troubles of the user caused by overspeed are solved, and the safety of the user is guaranteed.
In one embodiment, the method relates to determining the original lane information where the current vehicle is currently located. Referring to fig. 6, specifically, the method further includes the following steps:
s402, acquiring the position information of the current vehicle;
s404, determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
Specifically, the position information of the current vehicle is obtained by one or a combination of a front-facing camera, an Inertial Measurement Unit (IMU), and a Global Navigation Satellite System (GNSS), and is sent to the warning device. The early warning device judges the original lane where the current vehicle is located according to the position information of the current vehicle and determines the adjacent lane adjacent to the original lane. Whether the current vehicle changes the lane is further accurately determined by acquiring the position information of the current vehicle.
In one embodiment, the process involves how to determine how the current vehicle is attempting to change to the target lane. Referring to fig. 7, step S202 includes the following steps:
s2012, acquiring the state information of the current vehicle;
and S2014, if the state information of the current vehicle meets a preset condition, determining that the current vehicle tries to change from an original lane to the target lane.
Specifically, the state information refers to state information that occurs when the current vehicle travels in the original lane, for example, the state information may be that the current vehicle presses a lane line, or that a steering wheel has a large steering angle, or the like. The early warning device acquires the state information of the current vehicle in real time, and once the state information meets the corresponding preset condition, the current vehicle is determined to try to change from the original lane to the target lane. By collecting the state information of the current vehicle and comparing the state information, whether the current vehicle changes lanes or not can be accurately determined.
Alternatively, as an embodiment, the embodiment is a further explanation of how the above-described determination is made that the current vehicle attempts to change from the original lane to the target lane. Specifically, step S2014 includes the steps of:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle crosses the lane line, determining that the current vehicle tries to change from the original lane to the target lane.
Specifically, the preset condition may be that a preset portion of the current vehicle crosses a lane line, and the preset portion of the current vehicle may be a vehicle body edge or a wheel. For example, when the edge of the body or the wheel of the current vehicle crosses the lane line, the warning device determines that the current vehicle attempts to change to the target lane. By monitoring whether the current vehicle crosses the lane line, it can be accurately determined whether the current vehicle changes lanes.
Alternatively, as another embodiment, this embodiment is also a further explanation of how the above-described determination is made that the current vehicle is attempting to change from the original lane to the target lane. Specifically, step S2014 further includes the steps of:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from the original lane to the target lane.
Specifically, the preset condition may be a preset threshold corresponding to the steering angle of the current steering wheel of the vehicle. For example, when the angle detection means detects that the steering angle of the steering wheel of the current vehicle exceeds the preset threshold, the warning means determines that the current vehicle attempts to change to the target lane. By detecting the steering angle of the steering wheel of the current vehicle, whether the current vehicle changes lanes can be accurately determined.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 8, there is provided a warning apparatus 100 for a lane change of a vehicle, including: an acquisition module 1002 and an output module 1004, wherein:
the information obtaining module 1002 is configured to obtain departure information of a current vehicle from an original lane, and obtain a restriction condition of a target lane.
And a warning output module 1004, configured to output a warning instruction if the deviation information does not match the limiting condition, where the warning instruction is used to control a warning device to issue a warning.
In the vehicle lane change warning device, when the current vehicle attempts to change to the target lane, if the deviation information of the current vehicle does not match the restriction condition of the target lane, the warning device is controlled to issue violation warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of a user is guaranteed.
In one embodiment, the warning output module 1004 is further configured to obtain attribute information of the current vehicle, and obtain a lane type in the restriction condition; and if the attribute information does not match the lane type, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a current vehicle speed of the current vehicle, and obtain speed limit information in the limiting condition; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a limiting speed in the speed limit information, where the limiting speed includes a highest speed limit; and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a limiting speed in the speed limit information, where the limiting speed includes a lowest speed limit; and if the current vehicle speed is less than the lowest speed limit, outputting the warning instruction.
In one embodiment, the apparatus further comprises:
and a first time obtaining module (not shown) for obtaining a first time taken by the current vehicle to reach the speed measuring device from the current position.
And a second time obtaining module (not shown) for obtaining a second time required for the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane.
And a third time calculation module (not shown) configured to calculate a third time according to the first time and the second time.
A return instruction output module (not shown) configured to output a return instruction if the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time, where the return instruction is used to control a steering system to guide the current vehicle to return to the original lane.
In one embodiment, the apparatus further comprises:
a position determining module (not shown) for obtaining the position information of the current vehicle.
A lane identification module (not shown) configured to determine an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the location information, where the adjacent lane includes the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain status information of the current vehicle; and if the state information of the current vehicle meets a preset condition, determining that the current vehicle tries to change from an original lane to the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain a lane line between an original lane where the current vehicle is located and the target lane; and if the preset part of the current vehicle crosses the lane line, determining that the current vehicle tries to change from the original lane to the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain a steering angle of the steering wheel of the current vehicle to steer the target lane; and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from the original lane to the target lane.
The specific definition of the warning device for vehicle lane change can be referred to the definition of the warning method for vehicle lane change, and is not described herein again. All or part of the modules in the vehicle lane change early warning device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of warning of a lane change of a vehicle. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane;
and if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring attribute information of the current vehicle and acquiring a lane type in the limiting condition; and if the attribute information does not match the lane type, outputting the warning instruction.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the current speed of the current vehicle and acquiring speed limit information in the limiting conditions; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane;
and if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring attribute information of the current vehicle and acquiring a lane type in the limiting condition; and if the attribute information does not match the lane type, outputting the warning instruction.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current speed of the current vehicle and acquiring speed limit information in the limiting conditions; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
According to the above-described computer device and computer-readable storage medium, when the current vehicle attempts to change to the target lane, if the departure information of the current vehicle does not match the restriction condition of the target lane, the control warning means issues the violation warning. Therefore, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and a driver does not need to watch traffic signs on the road manually or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of a user is guaranteed.
It will be understood by those of ordinary skill in the art that all or a portion of the processes of the methods of the embodiments described above may be implemented by a computer program that may be stored on a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments 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 invention. 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 (13)

1. A method for warning of a lane change of a vehicle, the method comprising:
acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane;
and if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give out a warning.
2. The method according to claim 1, wherein the deviation information includes attribute information, and the restriction condition includes a lane type;
if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning, and the warning instruction comprises the following steps:
acquiring attribute information in the deviation information and acquiring a lane type in the restriction condition;
and if the attribute information does not match the lane type, outputting the warning instruction.
3. The method of claim 1, wherein the deviation information includes a current vehicle speed, and the limiting condition includes speed limit information;
if the deviation information does not match the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning, and the method further comprises the following steps:
acquiring the current vehicle speed in the deviation information and acquiring the speed limit information in the limiting condition;
and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
4. The method of claim 3, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information comprises:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
5. The method of claim 3, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information further comprises:
acquiring limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is less than the lowest speed limit, outputting the warning instruction.
6. The method according to claim 4 or 5, characterized in that the method further comprises:
acquiring first time for the current vehicle to reach the position of the speed measuring device from the current position;
acquiring second time required by the current vehicle to adjust the current vehicle speed to the speed limit of the target lane;
calculating to obtain a third time according to the first time and the second time;
and if the current vehicle determines that the current vehicle tries to change from the original lane to the target lane within the third time, outputting a return instruction, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
7. The method of claim 1, further comprising:
acquiring the position information of the current vehicle;
and determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
8. The method of claim 1, wherein the step of obtaining the deviation information of the current vehicle from the original lane and obtaining the restriction condition of the target lane is preceded by the steps of:
acquiring the state information of the current vehicle;
and if the state information of the current vehicle meets a preset condition, determining that the current vehicle tries to change from an original lane to the target lane.
9. The method of claim 8, wherein the step of determining that the current vehicle attempts to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition comprises:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle crosses the lane line, determining that the current vehicle tries to change from the original lane to the target lane.
10. The method according to claim 8, wherein the step of determining that the current vehicle attempts to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition further comprises:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from the original lane to the target lane.
11. A lane-change warning device for a vehicle, the device comprising:
the information acquisition module is used for acquiring the deviation information of the current vehicle from the original lane and acquiring the restriction condition of the target lane;
and the warning output module is used for outputting a warning instruction if the deviation information is not matched with the limiting condition, and the warning instruction is used for controlling a warning device to give out a warning.
12. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 10 when executing the computer program.
13. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.
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