CN111553605A - Vehicle lane change risk assessment method, device, equipment and storage medium - Google Patents
Vehicle lane change risk assessment method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for evaluating lane change risks of vehicles, and belongs to the technical field of vehicle safety. The method comprises the steps of obtaining current vehicle speed information and speed distance information between the current vehicle speed information and a target object, determining a target risk value according to the current vehicle speed information and the speed distance information, carrying out lane change risk assessment according to the target risk value, determining the target risk value by comprehensively judging the current vehicle speed information and the speed distance information between the current vehicle speed information and the target object, and assessing lane change risks of the vehicle according to the target risk value, so that the lane change risk assessment of the vehicle is more accurate and comprehensive.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a method, a device, equipment and a storage medium for evaluating lane change risks of a vehicle.
Background
With the development of intelligent driving technology, the early warning function brings increasingly safe driving experience to users in driving assistance. The lane change auxiliary early warning detects the vehicle state and position information of the adjacent lanes of the vehicle through an angular millimeter wave radar, judges whether the vehicle has lane change risk or not through analyzing and processing the timely information such as the speed of the vehicle, the speed of a target vehicle, the relative distance and the like through a controller, and further determines whether an early warning action is sent to a driver or not. The higher the accuracy of lane change risk judgment is, the lower the false alarm rate of lane change early warning is, and high functional experience can be brought to drivers and passengers.
The conventional lane change risk judgment method comprises the steps of judging a lane change risk of a vehicle according to the ratio of the relative distance and the relative speed between a target vehicle and the host vehicle, setting different threshold values of the ratio of the relative distance and the relative speed according to the speed of the host vehicle, determining that the lane change risk exists after the calculated ratio is lower than the threshold value, and finally further defining the lane change risk by combining the driving behavior of a driver.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle lane change risk assessment method, a vehicle lane change risk assessment device, vehicle lane change risk assessment equipment and a storage medium, and aims to solve the technical problems that in the prior art, vehicle lane change risk assessment is one-sided and low in accuracy.
In order to achieve the above object, the present invention provides a method for evaluating a lane change risk of a vehicle, the method comprising the steps of:
acquiring current vehicle speed information and speed distance information between the current vehicle speed information and a target object;
determining a target risk value according to the current vehicle speed information and the speed distance information;
and performing lane change risk assessment according to the target risk value.
Preferably, before the step of acquiring the current vehicle speed information and the speed distance information between the current vehicle speed information and the target object, the method further includes:
collecting road environment information around a vehicle in real time;
acquiring characteristic information of an object to be identified in the road environment information;
and when the characteristic information accords with preset characteristic information, taking the object to be identified as a target object.
Preferably, the step of determining a target risk value according to the current vehicle speed information and the speed distance information comprises:
acquiring a first risk value corresponding to the current speed information and the speed distance information according to a first preset strategy;
acquiring a second risk value corresponding to the current speed information and the speed distance information according to a second preset strategy;
determining a target risk value according to the first risk value and the second risk value.
Preferably, the step of obtaining the first risk value corresponding to the current vehicle speed information and the speed distance information according to a first preset strategy includes:
extracting the current longitudinal speed and the current transverse speed from the current speed information;
extracting a relative speed and a relative distance between the target object and the speed distance information, wherein the relative speed comprises a longitudinal relative speed and a transverse relative speed, and the relative distance comprises a longitudinal relative distance and a transverse relative distance;
calculating a longitudinal safe distance according to the current longitudinal speed and the longitudinal relative speed, and calculating a transverse safe distance according to the current transverse speed and the transverse relative speed;
and when the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, taking the risk value corresponding to the first preset strategy as a first risk value.
Preferably, the step of obtaining a second risk value corresponding to the current vehicle speed information and the speed distance information according to a second preset strategy includes:
acquiring longitudinal early warning time corresponding to the current longitudinal vehicle speed and transverse early warning time corresponding to the current transverse vehicle speed;
calculating longitudinal collision time according to the longitudinal relative distance and the longitudinal relative speed, and calculating transverse collision time according to the transverse relative distance and the transverse relative speed;
and when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than or equal to the transverse early warning time, taking a risk value corresponding to the second preset strategy as a second risk value.
Preferably, the step of determining a target risk value from the first risk value and the second risk value comprises:
determining a first weight value corresponding to the first preset strategy and a second weight value corresponding to the second preset strategy according to the relative distance;
and performing weighted calculation on the first risk value and the second risk value according to the first weight value and the second weight value to obtain a target risk value.
Preferably, the step of performing lane change risk assessment according to the target risk value comprises:
when the target risk value is larger than a preset risk threshold value, acquiring a risk difference value between the target risk value and the preset risk threshold value;
and determining a corresponding lane change risk grade according to the risk difference value, and outputting early warning information to finish the lane change risk assessment of the vehicle.
In addition, to achieve the above object, the present invention also proposes a vehicle lane change risk assessment apparatus, comprising:
the acquisition module is used for acquiring current vehicle speed information and speed distance information between the current vehicle speed information and a target object;
the calculation module is used for determining a target risk value according to the current vehicle speed information and the speed distance information;
and the evaluation module is used for carrying out lane change risk evaluation according to the target risk value.
Further, to achieve the above object, the present invention also proposes a vehicle lane change risk assessment apparatus, comprising: a memory, a processor and a vehicle lane change risk assessment program stored on the memory and executable on the processor, the vehicle lane change risk assessment program configured to implement the steps of the vehicle lane change risk assessment method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having a vehicle lane change risk assessment program stored thereon, which when executed by a processor implements the steps of the vehicle lane change risk assessment method as described above.
The method comprises the steps of obtaining current vehicle speed information and speed distance information between the current vehicle speed information and a target object, determining a target risk value according to the current vehicle speed information and the speed distance information, carrying out lane change risk assessment according to the target risk value, determining the target risk value by comprehensively judging the current vehicle speed information and the speed distance information between the current vehicle speed information and the target object, and assessing lane change risks of the vehicle according to the target risk value, so that the lane change risk assessment of the vehicle is more accurate and comprehensive.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle lane change risk assessment device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a lane-change risk assessment method of a vehicle according to the present invention;
FIG. 3 is a schematic flow chart illustrating a second embodiment of the lane-change risk assessment method of the present invention;
fig. 4 is a block diagram showing the structure of a first embodiment of the lane change risk assessment apparatus for a vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle lane change risk assessment device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle lane change risk assessment apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of the vehicle lane change risk assessment apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle lane change risk evaluation program.
In the vehicle lane change risk assessment apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 of the vehicle lane change risk assessment device of the present invention may be provided in the vehicle lane change risk assessment device, which calls the vehicle lane change risk assessment program stored in the memory 1005 through the processor 1001 and executes the vehicle lane change risk assessment method provided by the embodiment of the present invention.
An embodiment of the invention provides a vehicle lane change risk assessment method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of the vehicle lane change risk assessment method.
In this embodiment, the vehicle lane change risk assessment method includes the following steps:
step S10: and acquiring current vehicle speed information and speed distance information between the vehicle speed information and the target object.
In this embodiment, the current vehicle speed information includes a current longitudinal vehicle speed and a current transverse vehicle speed, the current vehicle speed information is collected in real time by a vehicle speed sensor on the vehicle, the speed distance information between the vehicle and the target object includes a relative speed and a relative distance between the vehicle and the target object, the relative speed and the relative distance between the vehicle and the target object are collected and detected in real time by a millimeter wave radar, the millimeter wave radar operates in a millimeter wave band, the millimeter wave is in a 30-300 GHz band (the wavelength is 1-10 mm), the wavelength of the millimeter wave is between a centimeter wave and a lightwave, therefore, the millimeter wave has the advantages of microwave guidance and photoelectric guidance, compared with optical guidance heads such as infrared, laser and television, the millimeter wave guidance head has strong capability of penetrating fog, smoke and dust, has the characteristics of all weather and all day time, and adopts a millimeter wave radar to ensure that the acquired relative speed and relative distance between the vehicle and a target object are more accurate.
It should be noted that the executing subject of this embodiment may be a vehicle-mounted terminal, and may also be a vehicle lane change risk assessment device or apparatus that is disposed on a vehicle, where this embodiment is described by taking the vehicle-mounted terminal as an example, and the vehicle-mounted terminal acquires current vehicle speed information acquired by an automobile sensor and speed distance information between the vehicle and a target object detected by a millimeter wave radar, and processes the current vehicle speed information and the speed distance information, thereby assessing a vehicle lane change risk.
In addition, in the present embodiment, the target object is an object in a moving state, such as a vehicle, a motorcycle, or a pedestrian, it is easy to understand that the speed and distance information with the vehicle only needs to be detected for the object in the moving state, and if the target object is a stationary object, the problem can be solved by a commonly used vehicle obstacle avoidance technique, and therefore, the target object needs to be identified, specifically, before the step of obtaining the current vehicle speed information and the speed and distance information with the target object, the method further includes: collecting road environment information around a vehicle in real time; acquiring characteristic information of an object to be identified in the road environment information; and when the characteristic information accords with preset characteristic information, taking the object to be identified as a target object.
In this embodiment, the road environment information around the vehicle is collected in real time by the millimeter wave radar, the collection range of the road environment information may be a detection range of the millimeter wave radar, or may be a preset collection range, which is not limited in this embodiment, after the road environment information around the vehicle is collected, the feature information of the object to be recognized is obtained from the road environment information, the object to be recognized is an object that may cause a danger to the vehicle due to lane change in the road environment, the feature information includes an object appearance, an object motion state, and the like, the preset feature information includes a vehicle appearance, a vehicle motion feature, and the like, and may be set by itself according to an actual situation, when the feature information conforms to the preset feature information, the object to be recognized is taken as a target object, for example, the feature information of the object to be recognized conforms to the motion feature of the vehicle, and it is determined that, the traveling vehicle is taken as a target object.
Step S20: and determining a target risk value according to the current vehicle speed information and the speed distance information.
Step S30: and performing lane change risk assessment according to the target risk value.
In this embodiment, after obtaining the current vehicle speed information of the vehicle and the speed distance information between the vehicle and the target object, a target risk value may be determined according to the current vehicle speed information and the speed distance information, where the target risk value represents a risk when the vehicle changes lane, and a larger target risk value indicates a larger risk when the vehicle changes lane, and specifically, the step of determining the target risk value according to the current vehicle speed information and the speed distance information includes: acquiring a first risk value corresponding to the current speed information and the speed distance information according to a first preset strategy; acquiring a second risk value corresponding to the current speed information and the speed distance information according to a second preset strategy; determining a target risk value according to the first risk value and the second risk value.
In a specific implementation, the step of obtaining a first risk value corresponding to the current vehicle speed information and the speed distance information according to a first preset strategy includes: extracting the current longitudinal speed and the current transverse speed from the current speed information; extracting a relative speed and a relative distance between the target object and the speed distance information, wherein the relative speed comprises a longitudinal relative speed and a transverse relative speed, and the relative distance comprises a longitudinal relative distance and a transverse relative distance; calculating a longitudinal safe distance according to the current longitudinal speed and the longitudinal relative speed, and calculating a transverse safe distance according to the current transverse speed and the transverse relative speed; and when the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, taking the risk value corresponding to the first preset strategy as a first risk value.
In this embodiment, a longitudinal safe distance, S, may be calculated based on the current longitudinal vehicle speed and the longitudinal relative speedsafe-Long＝Vx*Ts-longIn which S issafe-LongFor longitudinal safe distance, Vx is current longitudinal speed, Ts-longDetermining the longitudinal safety time distance according to the current longitudinal speed and the longitudinal relative speed, and calculating the transverse safety distance according to the current transverse speed and the transverse relative speed, Ssafe-Later＝Vy*Ts-laterIn which S issafe-LaterTransverse safety distance, VyPresent transverse vehicleSpeed, Ts-laterAnd the transverse safe time interval is determined by the current transverse vehicle speed and the transverse relative speed, and the safe time interval is determined by adopting a general time interval algorithm.
It should be noted that, in this embodiment, the current vehicle speed information includes a current longitudinal vehicle speed and a current transverse vehicle speed, the speed distance information includes a relative distance and a relative speed between the vehicle and the target object, the relative distance includes a longitudinal relative distance and a transverse relative distance, the relative speed includes a longitudinal relative speed and a transverse relative speed, the first preset policy in this embodiment is a distance policy, the distance policy determines whether the vehicle has a lane change risk by comparing the relative distance with a safety distance, the determination is divided into two steps, the longitudinal relative distance is compared with the longitudinal safety distance, it is determined whether the vehicle has a lane change risk in the longitudinal direction under the distance policy, then the transverse relative distance is compared with the transverse safety distance, it is determined whether the vehicle has a lane change risk in the transverse direction under the distance policy, and when the vehicle has lane change risks in both the longitudinal direction and the transverse direction, i.e. the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, judging that the vehicle has lane change risk, taking a risk value corresponding to a first preset strategy, namely a distance strategy, as a first risk value, taking a risk value corresponding to the distance strategy as a preset risk value, and determining corresponding preset risk values according to the lane change risk judgment conditions of the vehicle in the longitudinal direction and the transverse direction, for example, if the vehicle has the lane change risk in the longitudinal direction, no lane change risk exists in the horizontal line direction, the corresponding risk value of the distance strategy at the moment is set to be 50, i.e. the first risk value is 50, assuming that the vehicle has lane change risks in both the longitudinal and the transverse direction, the risk value corresponding to the distance strategy at this time is set to 100, that is, the first risk value is 100, and the specific risk value is set according to the actual situation, which is not limited in this embodiment.
Further, the step of obtaining a second risk value corresponding to the current vehicle speed information and the speed distance information according to a second preset strategy includes: acquiring longitudinal early warning time corresponding to the current longitudinal vehicle speed and transverse early warning time corresponding to the current transverse vehicle speed; calculating longitudinal collision time according to the longitudinal relative distance and the longitudinal relative speed, and calculating transverse collision time according to the transverse relative distance and the transverse relative speed; and when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than or equal to the transverse early warning time, taking a risk value corresponding to the second preset strategy as a second risk value.
In this embodiment, the longitudinal time to collision, TTC, can be calculated from the longitudinal relative distance and the longitudinal relative velocity-long＝Dis-long/Vrel-longWherein TTC-longFor longitudinal collision time, Dis-longIs a longitudinal relative distance, Vrel-longFor the longitudinal relative velocity, the lateral time to collision, TTC, can be calculated from the lateral relative distance and the lateral relative velocity-later＝Dis-later/Vrel-laterWherein TTC-laterFor transverse collision time, Dis-laterIs a transverse relative distance, Vrel-laterIs the lateral relative velocity.
It should be noted that, in this embodiment, the first preset strategy is a time strategy, the time strategy compares collision time with early warning time to determine whether there is a lane change risk in the vehicle, and can obtain longitudinal early warning time and transverse early warning time according to the current longitudinal vehicle speed and the current transverse vehicle speed, and the obtaining of the early warning time is divided into two steps according to the corresponding relationship between conventional vehicle speed and early warning time, the longitudinal collision time is compared with the longitudinal early warning time to determine whether there is a lane change risk in the vehicle in the longitudinal direction in the time strategy, and then the transverse collision time is compared with the transverse early warning time to determine whether there is a lane change risk in the vehicle in the transverse direction in the time strategy, when there is a lane change risk in both the longitudinal direction and the transverse direction in the vehicle, that is, when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than, the method includes the steps of judging that a lane change risk exists in a vehicle, taking a risk value corresponding to a time strategy as a first risk value, wherein the risk value corresponding to the time strategy is a preset risk value, and determining the corresponding preset risk value according to lane change risk judgment conditions of the vehicle in the longitudinal direction and the transverse direction, for example, if the lane change risk exists in the longitudinal direction of the vehicle, the lane change risk does not exist in the transverse line direction, setting a risk value corresponding to the time strategy at the moment to be 60, namely the first risk value to be 60, assuming that the lane change risk exists in both the longitudinal direction and the transverse direction of the vehicle, setting a risk value corresponding to the time strategy at the moment to be 80, namely the first risk value to be 80, and setting the specific risk value to be self-set according to actual conditions, wherein the embodiment is not limited.
In addition, the step of determining a target risk value according to the first risk value and the second risk value specifically includes: determining a first weight value corresponding to the first preset strategy and a second weight value corresponding to the second preset strategy according to the relative distance; and performing weighted calculation on the first risk value and the second risk value according to the first weight value and the second weight value to obtain a target risk value.
It should be noted that, by combining the distance policy and the time policy, the evaluation of the lane change risk of the vehicle is more comprehensive and accurate, in this embodiment, a first risk value and a second risk value are weighted and calculated according to weight values respectively corresponding to the distance policy and the time policy, where the first weight value is a weight value corresponding to the distance policy, the second weight value is a weight value corresponding to the time policy, and the first weight value and the second weight value are related to a relative distance, when the relative distance is larger, the weight value corresponding to the time policy is larger, when the relative distance is smaller, the weight value corresponding to the distance policy is larger, for example, when the relative distance is 50 meters, the weight value corresponding to the time policy is 0.7, the weight value corresponding to the distance policy is 0.3, when the relative distance is 20 meters, the weight value corresponding to the time policy is 0.2, the weight value corresponding to the distance policy is 0.8, the setting of a specific weight value and a judgment standard that the relative distance is larger or smaller are set, in this embodiment, without limitation, after obtaining the first weight value and the second weight value, a target risk value may be calculated, for example, if the first weight value is 0.8, the first risk value is 90, the second weight value is 0.2, and the second risk value is 80, the target risk value may be 88, and vehicle lane change risk assessment is performed according to the calculated target risk value.
The method comprises the steps of obtaining current vehicle speed information and speed distance information between the current vehicle speed information and a target object, determining a target risk value according to the current vehicle speed information and the speed distance information, carrying out lane change risk assessment according to the target risk value, determining the target risk value by comprehensively judging the current vehicle speed information and the speed distance information between the current vehicle speed information and the target, and assessing lane change risks of the vehicle according to the target risk value, so that lane change risk assessment of the vehicle is more accurate and comprehensive.
Referring to fig. 3, fig. 3 is a schematic flow chart of a vehicle lane change risk assessment method according to a second embodiment of the present invention.
Based on the first embodiment, step S30 in this embodiment specifically includes:
step S301: and when the target risk value is greater than a preset risk threshold, acquiring a risk difference value between the target risk value and the preset risk threshold.
Step S302: and determining a corresponding lane change risk grade according to the risk difference value, and outputting early warning information to finish the lane change risk assessment of the vehicle.
It is easy to understand that when the target risk value is less than or equal to the preset risk value threshold, it indicates that the vehicle does not have a lane change risk, the preset risk threshold indicates that the vehicle has a lane change risk when the target risk value is greater than the preset risk threshold, a risk difference value between the target risk value and the preset risk threshold is obtained, a corresponding lane change risk level is determined according to the risk difference value, a corresponding relationship between the risk difference value and the lane change risk level is preset, and in this embodiment, no limitation is imposed, for example, when the risk difference value is 10, a first level risk level is corresponded, and when the risk difference value is 80, a fifth level risk level is corresponded, it is assumed that the higher the risk level is, the greater the vehicle lane change risk is, when the risk level is fifth level, it indicates that the vehicle collision will occur immediately when the vehicle changes lane, when the risk level is first level, it indicates that the vehicle changes, and after the risk grade is obtained, corresponding early warning information is output according to the risk grade, and the early warning information can be used for signal lamp prompting, such as starting a signal lamp with a corresponding color according to the risk grade or carrying out voice or text prompting lamps through a vehicle-mounted computer.
In the embodiment, when the target risk value is greater than the preset risk threshold value, the risk difference value between the target risk value and the preset risk threshold value is obtained, the corresponding lane change risk level is determined according to the risk difference value, corresponding early warning information is output to complete vehicle lane change risk assessment, and the corresponding lane change risk level is divided by the risk value, so that a driver can know the specific risk level when the vehicle changes lanes more clearly, a decision is made in time by the driver, and the vehicle lane change risk assessment is more reliable and accurate.
Referring to fig. 4, fig. 4 is a block diagram illustrating a first embodiment of a lane-change risk assessment apparatus for a vehicle according to the present invention.
As shown in fig. 4, a vehicle lane change risk assessment device according to an embodiment of the present invention includes:
the obtaining module 10 is used for obtaining the current vehicle speed information and the speed distance information between the current vehicle speed information and the target object.
In this embodiment, the current vehicle speed information includes a current longitudinal vehicle speed and a current transverse vehicle speed, the current vehicle speed information is collected in real time by a vehicle speed sensor on the vehicle, the speed distance information between the vehicle and the target object includes a relative speed and a relative distance between the vehicle and the target object, the relative speed and the relative distance between the vehicle and the target object are collected and detected in real time by a millimeter wave radar, the millimeter wave radar operates in a millimeter wave band, the millimeter wave is in a 30-300 GHz band (the wavelength is 1-10 mm), the wavelength of the millimeter wave is between a centimeter wave and a lightwave, therefore, the millimeter wave has the advantages of microwave guidance and photoelectric guidance, compared with optical guidance heads such as infrared, laser and television, the millimeter wave guidance head has strong capability of penetrating fog, smoke and dust, has the characteristics of all weather and all day time, and adopts a millimeter wave radar to ensure that the acquired relative speed and relative distance between the vehicle and a target object are more accurate.
It should be noted that the executing subject of this embodiment is a vehicle lane change risk assessment device, and the vehicle lane change risk assessment device acquires current vehicle speed information acquired by an automobile sensor and speed distance information between a vehicle and a target object detected by a millimeter wave radar, and processes the current vehicle speed information and the speed distance information, thereby assessing a vehicle lane change risk.
In addition, in the present embodiment, the target object is an object in a moving state, such as a vehicle, a motorcycle, or a pedestrian, it is easy to understand that the speed and distance information with the vehicle only needs to be detected for the object in the moving state, and if the target object is a stationary object, the problem can be solved by a commonly used vehicle obstacle avoidance technique, and therefore, the target object needs to be identified, specifically, before the step of obtaining the current vehicle speed information and the speed and distance information with the target object, the method further includes: collecting road environment information around a vehicle in real time; acquiring characteristic information of an object to be identified in the road environment information; and when the characteristic information accords with preset characteristic information, taking the object to be identified as a target object.
In this embodiment, the road environment information around the vehicle is collected in real time by the millimeter wave radar, the collection range of the road environment information may be a detection range of the millimeter wave radar, or may be a preset collection range, which is not limited in this embodiment, after the road environment information around the vehicle is collected, the feature information of the object to be recognized is obtained from the road environment information, the object to be recognized is an object that may cause a danger to the vehicle due to lane change in the road environment, the feature information includes an object appearance, an object motion state, and the like, the preset feature information includes a vehicle appearance, a vehicle motion feature, and the like, and may be set by itself according to an actual situation, when the feature information conforms to the preset feature information, the object to be recognized is taken as a target object, for example, the feature information of the object to be recognized conforms to the motion feature of the vehicle, and it is determined that, the traveling vehicle is taken as a target object.
And the calculation module 20 is configured to determine a target risk value according to the current vehicle speed information and the speed distance information.
And the evaluation module 30 is used for performing lane change risk evaluation according to the target risk value.
In this embodiment, after obtaining the current vehicle speed information of the vehicle and the speed distance information between the vehicle and the target object, a target risk value may be determined according to the current vehicle speed information and the speed distance information, where the target risk value represents a risk when the vehicle changes lane, and a larger target risk value indicates a larger risk when the vehicle changes lane, and specifically, the step of determining the target risk value according to the current vehicle speed information and the speed distance information includes: acquiring a first risk value corresponding to the current speed information and the speed distance information according to a first preset strategy; acquiring a second risk value corresponding to the current speed information and the speed distance information according to a second preset strategy; determining a target risk value according to the first risk value and the second risk value.
In a specific implementation, the step of obtaining a first risk value corresponding to the current vehicle speed information and the speed distance information according to a first preset strategy includes: extracting the current longitudinal speed and the current transverse speed from the current speed information; extracting a relative speed and a relative distance between the target object and the speed distance information, wherein the relative speed comprises a longitudinal relative speed and a transverse relative speed, and the relative distance comprises a longitudinal relative distance and a transverse relative distance; calculating a longitudinal safe distance according to the current longitudinal speed and the longitudinal relative speed, and calculating a transverse safe distance according to the current transverse speed and the transverse relative speed; and when the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, taking the risk value corresponding to the first preset strategy as a first risk value.
In this embodiment, a longitudinal safe distance, S, may be calculated based on the current longitudinal vehicle speed and the longitudinal relative speedsafe-Long＝Vx*Ts-longIn which S issafe-LongFor longitudinal safe distance, Vx is current longitudinal speed, Ts-longFor longitudinal safe time interval, the current longitudinal speed and the longitudinal relative speed are determined according to the current time intervalCalculating the transverse safe distance from the front transverse speed and the transverse relative speed, Ssafe-Later＝Vy*Ts-laterIn which S issafe-LaterTransverse safety distance, VyCurrent lateral vehicle speed, Ts-laterAnd the transverse safe time interval is determined by the current transverse vehicle speed and the transverse relative speed, and the safe time interval is determined by adopting a general time interval algorithm.
It should be noted that, in this embodiment, the current vehicle speed information includes a current longitudinal vehicle speed and a current transverse vehicle speed, the speed distance information includes a relative distance and a relative speed between the vehicle and the target object, the relative distance includes a longitudinal relative distance and a transverse relative distance, the relative speed includes a longitudinal relative speed and a transverse relative speed, the first preset policy in this embodiment is a distance policy, the distance policy determines whether the vehicle has a lane change risk by comparing the relative distance with a safety distance, the determination is divided into two steps, the longitudinal relative distance is compared with the longitudinal safety distance, it is determined whether the vehicle has a lane change risk in the longitudinal direction under the distance policy, then the transverse relative distance is compared with the transverse safety distance, it is determined whether the vehicle has a lane change risk in the transverse direction under the distance policy, and when the vehicle has lane change risks in both the longitudinal direction and the transverse direction, i.e. the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, judging that the vehicle has lane change risk, taking a risk value corresponding to a first preset strategy, namely a distance strategy, as a first risk value, taking a risk value corresponding to the distance strategy as a preset risk value, and determining corresponding preset risk values according to the lane change risk judgment conditions of the vehicle in the longitudinal direction and the transverse direction, for example, if the vehicle has the lane change risk in the longitudinal direction, no lane change risk exists in the horizontal line direction, the corresponding risk value of the distance strategy at the moment is set to be 50, i.e. the first risk value is 50, assuming that the vehicle has lane change risks in both the longitudinal and the transverse direction, the risk value corresponding to the distance strategy at this time is set to 100, that is, the first risk value is 100, and the specific risk value is set according to the actual situation, which is not limited in this embodiment.
Further, the step of obtaining a second risk value corresponding to the current vehicle speed information and the speed distance information according to a second preset strategy includes: acquiring longitudinal early warning time corresponding to the current longitudinal vehicle speed and transverse early warning time corresponding to the current transverse vehicle speed; calculating longitudinal collision time according to the longitudinal relative distance and the longitudinal relative speed, and calculating transverse collision time according to the transverse relative distance and the transverse relative speed; and when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than or equal to the transverse early warning time, taking a risk value corresponding to the second preset strategy as a second risk value.
In this embodiment, the longitudinal time to collision, TTC, can be calculated from the longitudinal relative distance and the longitudinal relative velocity-long＝Dis-long/Vrel-longWherein TTC-longFor longitudinal collision time, Dis-longIs a longitudinal relative distance, Vrel-longFor the longitudinal relative velocity, the lateral time to collision, TTC, can be calculated from the lateral relative distance and the lateral relative velocity-later＝Dis-later/Vrel-laterWherein TTC-laterFor transverse collision time, Dis-laterIs a transverse relative distance, Vrel-laterIs the lateral relative velocity.
It should be noted that, in this embodiment, the first preset strategy is a time strategy, the time strategy compares collision time with early warning time to determine whether there is a lane change risk in the vehicle, and can obtain longitudinal early warning time and transverse early warning time according to the current longitudinal vehicle speed and the current transverse vehicle speed, and the obtaining of the early warning time is divided into two steps according to the corresponding relationship between conventional vehicle speed and early warning time, the longitudinal collision time is compared with the longitudinal early warning time to determine whether there is a lane change risk in the vehicle in the longitudinal direction in the time strategy, and then the transverse collision time is compared with the transverse early warning time to determine whether there is a lane change risk in the vehicle in the transverse direction in the time strategy, when there is a lane change risk in both the longitudinal direction and the transverse direction in the vehicle, that is, when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than, the method includes the steps of judging that a lane change risk exists in a vehicle, taking a risk value corresponding to a time strategy as a first risk value, wherein the risk value corresponding to the time strategy is a preset risk value, and determining the corresponding preset risk value according to lane change risk judgment conditions of the vehicle in the longitudinal direction and the transverse direction, for example, if the lane change risk exists in the longitudinal direction of the vehicle, the lane change risk does not exist in the transverse line direction, setting a risk value corresponding to the time strategy at the moment to be 60, namely the first risk value to be 60, assuming that the lane change risk exists in both the longitudinal direction and the transverse direction of the vehicle, setting a risk value corresponding to the time strategy at the moment to be 80, namely the first risk value to be 80, and setting the specific risk value to be self-set according to actual conditions, wherein the embodiment is not limited.
In addition, the step of determining a target risk value according to the first risk value and the second risk value specifically includes: determining a first weight value corresponding to the first preset strategy and a second weight value corresponding to the second preset strategy according to the relative distance; and performing weighted calculation on the first risk value and the second risk value according to the first weight value and the second weight value to obtain a target risk value.
It should be noted that, by combining the distance policy and the time policy, the evaluation of the lane change risk of the vehicle is more comprehensive and accurate, in this embodiment, a first risk value and a second risk value are weighted and calculated according to weight values respectively corresponding to the distance policy and the time policy, where the first weight value is a weight value corresponding to the distance policy, the second weight value is a weight value corresponding to the time policy, and the first weight value and the second weight value are related to a relative distance, when the relative distance is larger, the weight value corresponding to the time policy is larger, when the relative distance is smaller, the weight value corresponding to the distance policy is larger, for example, when the relative distance is 50 meters, the weight value corresponding to the time policy is 0.7, the weight value corresponding to the distance policy is 0.3, when the relative distance is 20 meters, the weight value corresponding to the time policy is 0.2, the weight value corresponding to the distance policy is 0.8, the setting of a specific weight value and a judgment standard that the relative distance is larger or smaller are set, in this embodiment, without limitation, after obtaining the first weight value and the second weight value, a target risk value may be calculated, for example, if the first weight value is 0.8, the first risk value is 90, the second weight value is 0.2, and the second risk value is 80, the target risk value may be 88, and vehicle lane change risk assessment is performed according to the calculated target risk value.
The method comprises the steps of obtaining current vehicle speed information and speed distance information between the current vehicle speed information and a target object, determining a target risk value according to the current vehicle speed information and the speed distance information, carrying out lane change risk assessment according to the target risk value, determining the target risk value by comprehensively judging the current vehicle speed information and the speed distance information between the current vehicle speed information and the target, and assessing lane change risks of the vehicle according to the target risk value, so that lane change risk assessment of the vehicle is more accurate and comprehensive.
In one embodiment, the system further comprises a detection module, a processing module and a display module, wherein the detection module is used for collecting road environment information around the vehicle in real time; acquiring characteristic information of an object to be identified in the road environment information; and when the characteristic information accords with preset characteristic information, taking the object to be identified as a target object.
In an embodiment, the calculating module 20 is further configured to obtain a first risk value corresponding to the current vehicle speed information and the speed distance information according to a first preset strategy; acquiring a second risk value corresponding to the current speed information and the speed distance information according to a second preset strategy; determining a target risk value according to the first risk value and the second risk value.
In an embodiment, the calculating module 20 is further configured to extract a current longitudinal vehicle speed and a current lateral vehicle speed from the current vehicle speed information; extracting a relative speed and a relative distance between the target object and the speed distance information, wherein the relative speed comprises a longitudinal relative speed and a transverse relative speed, and the relative distance comprises a longitudinal relative distance and a transverse relative distance; calculating a longitudinal safe distance according to the current longitudinal speed and the longitudinal relative speed, and calculating a transverse safe distance according to the current transverse speed and the transverse relative speed; and when the longitudinal safe distance is smaller than the longitudinal relative distance and the transverse safe distance is smaller than the transverse relative distance, taking the risk value corresponding to the first preset strategy as a first risk value.
In an embodiment, the calculation module 20 is further configured to obtain a longitudinal early warning time corresponding to the current longitudinal vehicle speed and a transverse early warning time corresponding to the current transverse vehicle speed; calculating longitudinal collision time according to the longitudinal relative distance and the longitudinal relative speed, and calculating transverse collision time according to the transverse relative distance and the transverse relative speed; and when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than or equal to the transverse early warning time, taking a risk value corresponding to the second preset strategy as a second risk value.
In an embodiment, the calculating module 20 is further configured to determine a first weight value and a second weight value corresponding to the first risk value and the second risk value according to the relative distance, respectively; and performing weighted calculation on the first risk value and the second risk value according to the first weight value and the second weight value to obtain a target risk value.
In an embodiment, the flat cabinet module 30 is further configured to, when the target risk value is greater than a preset risk threshold, obtain a risk difference value between the target risk value and the preset risk threshold; and determining a corresponding lane change risk grade according to the risk difference value, and outputting early warning information to finish the lane change risk assessment of the vehicle.
Furthermore, an embodiment of the present invention further provides a storage medium, where a vehicle lane change risk assessment program is stored on the storage medium, and the vehicle lane change risk assessment program, when executed by a processor, implements the steps of the vehicle lane change risk assessment method described above.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may be referred to a vehicle lane change risk assessment method provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle lane change risk assessment method, the method comprising:
acquiring current vehicle speed information and speed distance information between the current vehicle speed information and a target object;
determining a target risk value according to the current vehicle speed information and the speed distance information;
and performing lane change risk assessment according to the target risk value.
2. The method for assessing risk of a vehicle lane change according to claim 1, wherein the step of obtaining information on current vehicle speed and information on speed distance to the target object is preceded by the step of:
collecting road environment information around a vehicle in real time;
acquiring characteristic information of an object to be identified in the road environment information;
and when the characteristic information accords with preset characteristic information, taking the object to be identified as a target object.
3. The vehicle lane-change risk assessment method according to claim 1, wherein the step of determining a target risk value based on the current vehicle speed information and the speed distance information comprises:
acquiring a first risk value corresponding to the current speed information and the speed distance information according to a first preset strategy;
acquiring a second risk value corresponding to the current speed information and the speed distance information according to a second preset strategy;
determining a target risk value according to the first risk value and the second risk value.
4. The vehicle lane change risk assessment method according to claim 3, wherein the step of obtaining the first risk value corresponding to the current vehicle speed information and the speed distance information according to a first preset strategy comprises:
extracting the current longitudinal speed and the current transverse speed from the current speed information;
extracting a relative speed and a relative distance between the target object and the speed distance information, wherein the relative speed comprises a longitudinal relative speed and a transverse relative speed, and the relative distance comprises a longitudinal relative distance and a transverse relative distance;
calculating a longitudinal safe distance according to the current longitudinal speed and the longitudinal relative speed, and calculating a transverse safe distance according to the current transverse speed and the transverse relative speed;
and when the longitudinal relative distance is smaller than the longitudinal safety distance and the transverse relative distance is smaller than the transverse safety distance, taking the risk value corresponding to the first preset strategy as a first risk value.
5. The vehicle lane change risk assessment method according to claim 4, wherein the step of obtaining a second risk value corresponding to the current vehicle speed information and the speed distance information according to a second preset strategy comprises:
acquiring longitudinal early warning time corresponding to the current longitudinal vehicle speed and transverse early warning time corresponding to the current transverse vehicle speed;
calculating longitudinal collision time according to the longitudinal relative distance and the longitudinal relative speed, and calculating transverse collision time according to the transverse relative distance and the transverse relative speed;
and when the longitudinal collision time is less than or equal to the longitudinal early warning time and the transverse collision time is less than or equal to the transverse early warning time, taking a risk value corresponding to the second preset strategy as a second risk value.
6. The vehicle lane change risk assessment method according to claim 5, wherein the step of determining a target risk value based on the first risk value and the second risk value comprises:
determining a first weight value corresponding to the first preset strategy and a second weight value corresponding to the second preset strategy according to the relative distance;
and performing weighted calculation on the first risk value and the second risk value according to the first weight value and the second weight value to obtain a target risk value.
7. The vehicle lane change risk assessment method according to any one of claims 1 to 6, wherein the step of performing lane change risk assessment according to the target risk value includes:
when the target risk value is larger than a preset risk threshold value, acquiring a risk difference value between the target risk value and the preset risk threshold value;
and determining a corresponding lane change risk grade according to the risk difference value, and outputting early warning information to finish the lane change risk assessment of the vehicle.
8. A vehicle lane change risk assessment device, characterized in that the device comprises:
the acquisition module is used for acquiring current vehicle speed information and speed distance information between the current vehicle speed information and a target object;
the calculation module is used for determining a target risk value according to the current vehicle speed information and the speed distance information;
and the evaluation module is used for carrying out lane change risk evaluation according to the target risk value.
9. A vehicle lane change risk assessment apparatus, characterized in that the apparatus comprises: a memory, a processor, and a vehicle lane change risk assessment program stored on the memory and run on the processor, the vehicle lane change risk assessment program configured to implement the steps of the vehicle lane change risk assessment method of any of claims 1-7.
10. A storage medium having a vehicle lane change risk assessment program stored thereon, the vehicle lane change risk assessment program when executed by a processor implementing the steps of the vehicle lane change risk assessment method according to any one of claims 1 to 7.
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