CN110533958A - Vehicle lane change based reminding method and system - Google Patents
Vehicle lane change based reminding method and system Download PDFInfo
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- CN110533958A CN110533958A CN201810509892.6A CN201810509892A CN110533958A CN 110533958 A CN110533958 A CN 110533958A CN 201810509892 A CN201810509892 A CN 201810509892A CN 110533958 A CN110533958 A CN 110533958A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
This application involves a kind of vehicle lane change based reminding method and system, method therein includes: the video image information for obtaining this vehicle front and this rear of vehicle；The driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to video image information, driving status relationship includes relative velocity, relative distance and relative position；The lane change for obtaining this vehicle is intended to；Judge whether driving status relationship meets lane change condition according to lane change intention；If driving status relationship does not meet lane change condition, the reason of obtaining corresponding the reason of forbidding lane change and forbid lane change to remind and forbid lane change by interior voice device output.In this way, the application can provide help by way of voice reminder for the lane change behavior of this vehicle, to improve drive safety.
Description
Technical field
This application involves technical field of vehicle, and in particular to a kind of vehicle lane change based reminding method and system.
Background technique
With the fast development and the improvement of people's living standards of Domestic Automotive Industry, the car owning amount of residential households is fast
Speed increases, and while automobile industry fast development, the safety problem of vehicle in the process of moving also becomes more prominent.
Changing Lane is the situation being most commonly encountered during driving vehicle, and vehicle is in lane change, as driver can not
The opposite driving status of this vehicle of accurate judgement and front vehicles and front vehicle, such as mutual alignment, relative distance and relatively
Speed is then easy so that this vehicle collides during lane change.However, existing vehicle is typically only capable to acquisition vehicle front
Video information is stored using the evidence as traffic accidents such as collisions, can not be provided help for the lane change behavior of this vehicle, be driven
It is low to sail safety.
Summary of the invention
The purpose of the application is, provides a kind of vehicle lane change based reminding method and system, can solve above-mentioned technology and ask
Topic, can provide help for the lane change behavior of this vehicle, to improve drive safety.
In order to solve the above technical problems, the application provides a kind of vehicle lane change based reminding method, comprising:
Obtain this vehicle front and the video image information of this rear of vehicle；
The driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to the video image information,
The driving status relationship includes relative velocity, relative distance and relative position；
The lane change for obtaining this vehicle is intended to；
Judge whether the driving status relationship meets lane change condition according to lane change intention；
If the driving status relationship does not meet lane change condition, obtains corresponding the reason of forbidding lane change and pass through car
Voice device output forbid lane change remind and described the reason of forbidding lane change.
Wherein, the traveling analyzed according to the video image information between this vehicle and front vehicles, front vehicle
State relation, comprising:
The vehicle for including in the video image information of this vehicle front and the video image information of this rear of vehicle is extracted respectively
Diatom information and information of vehicles；
Relative distance and this vehicle and rear of this vehicle and front vehicles are calculated separately according to the information of vehicles extracted
The relative distance of vehicle；
The relative velocity and this vehicle for calculating separately this vehicle and front vehicles according to the variation of the relative distance are with after
The relative velocity of square vehicle；
The relative position for analyzing this vehicle and front vehicles respectively according to the lane line information extracted and this vehicle are with after
The relative position of square vehicle.
Wherein, the lane change for obtaining this vehicle is intended to, comprising:
According to the lane line for including in the video image information of this vehicle front and the video image information of this rear of vehicle
Information analyzes the relative position of the lane line in this vehicle and place lane；
Monitor the changing rule of the relative position of the lane line in this vehicle and place lane；
When the changing rule of this vehicle and the relative position of the lane line in place lane meets lane change feature, according to described
The lane change that lane change feature obtains this vehicle is intended to.
Wherein, the lane change for obtaining this vehicle is intended to, comprising:
Monitor the steering modulating signal of this vehicle；
When monitoring to turn to modulating signal, according to the lane change intention of this vehicle of the turn signal signal acquisition.
Wherein, described to obtain corresponding the reason of forbidding lane change and forbid lane change to remind by interior voice device output
And after described the reason of forbidding lane change, further includes:
Forbid the control signal of lane change to forbid this vehicle lane change to the output of this vehicle.
Wherein, the vehicle lane change based reminding method, further includes:
When the driving status relationship meets urgent lane change condition, this vehicle is determined according to the driving status relationship
Urgent lane change direction；
It is exported by interior voice device to the urgent lane change of the urgent lane change direction lane change and is prompted.
Wherein, described exported by interior voice device to the urgent lane change of the urgent lane change direction lane change prompts it
Afterwards, further includes:
Control turn signal unlatching corresponding with the urgent lane change direction.
Wherein, the lane change condition includes, and is intended in the driving status relationship with the lane change of this vehicle associated opposite
Distance and/or relative velocity are greater than or equal to preset threshold.
The application also provides a kind of vehicle lane change system for prompting, comprising:
Video acquisition device, for acquiring the video image information of this vehicle front and this rear of vehicle；
Processor is connect with the video acquisition device, for obtaining the video figure of this vehicle front and this rear of vehicle
As information, and the driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to the video image information,
The driving status relationship includes relative velocity, relative distance and relative position, and, the lane change for obtaining this vehicle is intended to and root
Judge whether the driving status relationship meets lane change condition according to lane change intention, if the driving status relationship does not meet change
Road condition then obtains corresponding the reason of forbidding lane change and is sent to voice device；
The voice device, is connected to the processor, and forbids lane change prompting and the original for forbidding lane change for exporting
Cause.
Wherein, the vehicle lane change system for prompting further includes HD recording module, for storing the video image information.
The vehicle lane change based reminding method and system of the application, by the video figure for obtaining this vehicle front and this rear of vehicle
As information, the driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to video image information, travels shape
State relationship includes relative velocity, relative distance and relative position, and obtains the lane change intention of this vehicle and be intended to according to lane change
Judge whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, obtains corresponding taboo
Only the reason of lane change and the reason of forbidding lane change to remind and forbid lane change by interior voice device output.Pass through this side
Formula, the application can provide help by way of voice reminder for the lane change behavior of this vehicle, to improve drive safety.
Above description is only the general introduction of technical scheme, in order to better understand the technological means of the application,
And it can be implemented in accordance with the contents of the specification, and in order to allow the above and other objects, features and advantages of the application can
It is clearer and more comprehensible, it is special below to lift preferred embodiment, and cooperate attached drawing, detailed description are as follows.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of vehicle lane change based reminding method shown according to an exemplary embodiment.
Fig. 2 is a kind of structural schematic diagram of vehicle lane change system for prompting shown according to an exemplary embodiment.
Fig. 3 is a kind of structural schematic diagram of the vehicle lane change system for prompting shown according to another exemplary embodiment.
Specific embodiment
Further to illustrate that the application is the technical means and efficacy reaching predetermined application purpose and being taken, below in conjunction with
Attached drawing and preferred embodiment, to specific embodiment, the method, step proposed according to the application vehicle lane change based reminding method and system
Suddenly, structure, feature and its effect, detailed description are as follows.
Aforementioned and other technology contents, feature and effect in relation to the application refer to the preferable reality of schema in following cooperation
Applying in the detailed description of example can clearly appear from.By the explanation of specific embodiment, when can be that reach predetermined mesh to the application
The technical means and efficacy taken be able to more deeply and it is specific understand, however institute's accompanying drawings are only to provide with reference to and say
It is bright to be used, not it is used to limit the application.
Fig. 1 is a kind of flow diagram of vehicle lane change based reminding method shown according to an exemplary embodiment.It please refers to
Fig. 1, a kind of vehicle lane change based reminding method of the present embodiment, comprising the following steps:
Step 110, this vehicle front and the video image information of this rear of vehicle are obtained.
Wherein, this vehicle front video image information is acquired by the way that the forward sight camera of front of the car is arranged in, by setting
The rearview camera set in rear vehicle end acquires this rear of vehicle video image information, and forward sight camera can be adopted with rearview camera
With CCD installed video night vision cam, wherein forward sight camera can use vehicle-mounted digital video recorder (Digital
Video Recorder) camera, forward sight camera and rearview camera are onboard respectively facing the front and back of vehicle
It is fixedly mounted, the relative position of camera and vehicle is made to immobilize.
Step 120, the driving status between this vehicle and front vehicles, front vehicle is analyzed according to video image information to close
System, driving status relationship includes relative velocity, relative distance and relative position.
Wherein, driving status relationship refers to by the mutual pass between the driving status of each vehicle determines and is formed vehicle
System, is not limited to include relative velocity, relative distance and relative position, in the present embodiment, relative velocity is referred to this vehicle
For the speed of other vehicles measured by object of reference, relative distance is referred to using this vehicle as the obtained other vehicles of object of reference
With the fore-and-aft distance of this vehicle, relative position is referred to using lane where this vehicle as the position of the obtained other vehicles of object of reference
Set, for example, other vehicles be located at this lane, be located at the first from left lane or be located at the second from left lane, and positioned at this vehicle front or
Rear etc. can be mapped to a unique vehicle in conjunction with relative distance and relative position.Herein, front vehicles and front vehicle
Each mean the vehicle in front acquisition range and rear acquisition range, due to not all vehicle all with Ben Che or rear car lane change
Correlation, in actual implementation, according to where this vehicle lane and road track quantity, can only analyze this vehicle lane and this
Vehicle lane left side, each two lanes in right side are total to the driving status relationship of vehicle and this vehicle at most five lanes.
In one embodiment, the row between this vehicle and front vehicles, front vehicle is analyzed according to video image information
The process for sailing state relation can comprise the following steps that
The vehicle for including in the video image information of this vehicle front and the video image information of this rear of vehicle is extracted respectively
Diatom information and information of vehicles；
Relative distance and this vehicle and rear of this vehicle and front vehicles are calculated separately according to the information of vehicles extracted
The relative distance of vehicle；
The relative velocity and this vehicle and rear vehicle of this vehicle and front vehicles are calculated separately according to the variation of relative distance
Relative velocity；
The relative position for analyzing this vehicle and front vehicles respectively according to the lane line information extracted and this vehicle are with after
The relative position of square vehicle.
Wherein, after obtaining the video image information of this vehicle front and this rear of vehicle, first respectively to this vehicle front
Video image information and the video image of video image information of this rear of vehicle pre-process determining road area, then
Lane line is detected in determining road area and identifies the information of vehicles in acquisition range, thus before obtaining this vehicle
The lane line information and information of vehicles that the video image information of side and the video image information of this rear of vehicle include.Then, root
This vehicle is calculated at a distance from front vehicles are in each frame image according to the information of vehicles extracted, and the distance convert
To the relative distance of this vehicle and front vehicles in real road, phase of this vehicle with front vehicle is calculated using the same manner
It adjusts the distance, passes through the situation of change of the available relative distance of the image of successive frame.Obtaining phase of this vehicle with front vehicles
After the situation of change of the relative position of position and this vehicle and front vehicle, it can be calculated separately according to corresponding frame per second is changed
Obtain the relative velocity of this vehicle and front vehicles and the relative velocity of this vehicle and front vehicle.In addition, according to extracting
Lane line information can analyze to obtain the relative position of the relative position of this vehicle and front vehicles and this vehicle and front vehicle,
This process can be carried out simultaneously with the process for calculating relative distance and relative velocity or successively be carried out, herein with no restrictions.
Step 130, the lane change for obtaining this vehicle is intended to.
Wherein, lane change is intended for indicating that vehicle will be intended to include lane change direction towards some direction lane change, lane change, one
In embodiment, the present embodiment acquisition this vehicle lane change be intended to the following steps are included:
According to the lane line for including in the video image information of this vehicle front and the video image information of this rear of vehicle
Information analyzes the relative position of the lane line in this vehicle and place lane；
Monitor the changing rule of the relative position of the lane line in this vehicle and place lane；
When the changing rule of this vehicle and the relative position of the lane line in place lane meets lane change feature, according to lane change
The lane change that feature obtains this vehicle is intended to.
In above process, the relative position of this vehicle and the lane line in place lane refers to this vehicle and place lane
The lateral distance or relative angle of lane line, lane change feature refer to the default of the relative position of the lane line in this vehicle and place lane
Changing rule, the default changing rule are corresponding with lane change direction, wherein when detecting wherein the one of this vehicle and place lane
The changing rule of the lateral distance of lane line is when becoming larger or gradually becoming smaller, then changing rule at this time is to meet lane change
Feature, it can determine the lane that vehicle enters lane change, and if changing rule is to become larger or become smaller repeatedly and can not determine
Lane change direction, changing rule at this time do not meet lane change feature, then are not considered as just in lane change, similar, when detecting this
The changing rule of vehicle and the wherein relative angle of a lane line in place lane is that relative angle is not zero and remains unchanged
Or be gradually increased, then changing rule at this time meets lane change feature, can learn vehicle i.e. according to the direction of relative angle
The lane that lane change is entered, that is to say, that when this vehicle and the changing rule of the relative position of the lane line in place lane meet
When lane change feature, the lane change that this vehicle can be got according to lane change feature is intended to.
Wherein, the mode for obtaining the lane change intention of this vehicle is not limited with above-mentioned, in another embodiment, obtains this vehicle
Lane change intention may include step: monitor the steering modulating signal of this vehicle；When monitoring to turn to modulating signal, according to steering
The lane change that modulating signal obtains this vehicle is intended to.Specifically, can be obtained when the steering modulating signal got is left steering modulating signal
Know that this vehicle will enter left-hand lane, when the steering modulating signal got is right turn modulating signal, then it can be seen that this vehicle
Right-hand lane will be entered, so that the lane change for getting this vehicle is intended that lane to the right.
It should be understood that above-mentioned steps 110-130 can be carried out simultaneously, successively be carried out or first carry out step 130 carrying out step again
110-120, as long as available arrive lane change intention and driving status relationship, herein with no restrictions.
Step 140, judge whether driving status relationship meets lane change condition according to lane change intention.
After the lane change for getting this vehicle is intended to, judge whether current driving status relationship meets according to lane change intention
Lane change condition.Wherein, lane change condition is that the condition of vehicle collision will not occur when meeting lane change, is not limited to include that driving status is closed
It is intended to associated relative distance with the lane change of this vehicle in system to be less than or equal to more than or equal to pre-determined distance and/or relative velocity
Pre-set velocity.In general, the target lane rear that will such as enter has distance farther out but this opposite vehicle when this vehicle lane change
Vehicle in front of the vehicle of fast speed or the target lane that will enter has the vehicle for being closer and slowing down or another
One lane also has when lane change being entered target lane and close lane change position, then this vehicle is not suitable for being become to target lane
Road namely driving status relationship are unsatisfactory for lane change condition.It should be understood that the case where being not suitable for lane change is without being limited thereto, for example, lane change item
Part can not also interfere including the travel route of travel route and associated vehicle after this vehicle lane change.
In actual implementation, when the lane change for getting this vehicle is intended to, relationship and lane change are intended to tool according to transport condition
The drive route of the vehicle and associated vehicle that have lane change to be intended to is predicted, if there is interference, intersection between route, then it is assumed that become
Vehicle collision will occur when road, think that current driving status relationship is unsatisfactory for lane change condition at this time, conversely, then meeting lane change item
Part.Alternatively, judging between associated vehicle and this vehicle after relationship and lane change are intended to determining associated vehicle according to transport condition
Whether relative distance, relative velocity meet setting condition, such as relative distance is greater than pre-determined distance or relative velocity less than default
Speed imposes a condition if relative distance, relative velocity meet, and driving status relationship meets lane change condition, conversely, being then unsatisfactory for
Lane change condition.
Step 150, it if driving status relationship does not meet lane change condition, obtains corresponding the reason of forbidding lane change and passes through
The reason of interior voice device output forbids lane change to remind and forbid lane change.
Wherein, forbid the reason of lane change be stored in a manner of preset content vehicle local memory or with it is vehicle networked
Server in, there is corresponding relationship with the analysis result of driving status relationship, when lane change intention is unsatisfactory for lane change condition,
Corresponding taboo can be found according to the analysis result to the driving status relationship between this vehicle and front vehicles, front vehicle
Only the reason of lane change, such as the front vehicle in lane change direction is forbidden with the relative velocity of this vehicle greater than pre-set velocity is then corresponding
The reason of lane change for lane change direction front vehicle speed is very fast, the front vehicles in lane change direction or phase with this vehicle of left back
Adjust the distance be less than pre-determined distance, then corresponding the reason of forbidding lane change be closer for the front vehicles in lane change direction, lane change side
To left back have that vehicle is closer etc., acquisition is sent to interior voice device the reason of forbidding lane change, it is for example, vehicle-mounted
Recreation terminal passes through the reason of interior loudspeaker broadcasting forbids lane change to remind and forbid lane change, such as voice by car entertainment terminal
It broadcasts " forbidding lane change, lane change direction front vehicle speed is very fast ", so that driver learns that road conditions are without by force at that time in time
Lane change, to ensure driving safety.
In one embodiment, the reason of forbidding lane change to remind and forbid lane change by interior voice device output it
Afterwards, further includes: forbid the control signal of lane change to forbid this vehicle lane change to the output of this vehicle.Wherein, passing through voice reminder
Mode export forbid lane change remind and the reason of forbid lane change after, driver it is possible to the case where in the presence of lane change by force,
According to circumstances determine whether further to forbid this vehicle lane change at this time, for example, when the route of prediction shows that collision probability is high,
Directly vehicle is controlled to forbid this vehicle lane change, further ensures driving safety.
In one embodiment, the vehicle lane change based reminding method of the application, further comprising the steps of:
When driving status relationship meets urgent lane change condition, relationship determines the urgent lane change of this vehicle according to transport condition
Direction；
The prompt of the urgent lane change to the lane change of urgent lane change direction is exported by interior voice device.
In one embodiment, it is mentioned in the urgent lane change exported by interior voice device to the lane change of urgent lane change direction
After showing, further includes:
Turn signal corresponding with urgent lane change direction is controlled to open.
Wherein, when vehicle driving is on road, in fact it could happen that the case where urgent danger prevention is carried out by lane change is needed, such as
Lead to spacing because front vehicles emergency brake, front vehicles deviation normally travel route, front vehicle accelerate situations such as suddenly
When quickly reducing, it may be necessary to which lane change carries out urgent danger prevention.Therefore, in vehicle travel process, this vehicle and front vehicle are analyzed
, the driving status relationship of front vehicle whether meet urgent lane change condition, when driving status relationship meets urgent lane change condition
When, for example, front vehicles emergency brake and when spacing being caused quickly to reduce, this vehicle is determined according to current driving status relationship
Urgent lane change direction, wherein if the relative distance or relative velocity of vehicle in left-hand lane and this vehicle are in safe model
It encloses, then confirms that urgent lane change direction is left side lane change, if the relative distance of vehicle and this vehicle in right-hand lane or relatively fast
Degree is in safe range, then confirms that urgent lane change direction is right side lane change.After confirming urgent lane change direction, pass through interior language
Mixer exports the prompt of the urgent lane change to the lane change of urgent lane change direction, such as voice broadcast " the urgent lane change in lane to the left ".
In this way, when be in an emergency and driver does not have found or can not in time, accurately judge when, can and
When, rapidly provide safe driving for driver and help, ensure driving safety.Meanwhile defeated by interior voice device
Out to the urgent lane change of urgent lane change direction lane change prompt after, due to this vehicle driver in case of emergency possibly can not and
When play turn signal, thus can also further control turn signal corresponding with urgent lane change direction and turn signal instrument icon and open,
To which rearward vehicle reminds the lane change direction of this vehicle in time by turn signal, pass through turn signal instrument icon aid prompting sheet
The current urgent lane change direction of vehicle driver, further ensures driving safety.
In one embodiment, this vehicle front and the video image of this rear of vehicle can be will acquire in driving procedure
Information carries out compression processing and stores to hard disk to obtain HD recording, so as to the evidence as traffic accidents such as collisions, letter
It ceases more comprehensive.
The vehicle lane change based reminding method of the present embodiment, the video image by obtaining this vehicle front and this rear of vehicle are believed
Breath analyzes the driving status relationship between this vehicle and front vehicles, front vehicle according to video image information, and driving status is closed
System includes relative velocity, relative distance and relative position, and obtains the lane change intention of this vehicle and be intended to judge according to lane change
Whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, obtains and corresponding forbids becoming
The reason of road, simultaneously exports the reason of forbidding lane change to remind and forbid lane change by interior voice device.In this way, originally
Application can provide help by way of voice reminder for the lane change behavior of this vehicle, to improve drive safety.
Fig. 2 is a kind of structural schematic diagram of vehicle lane change system for prompting shown according to an exemplary embodiment.It please refers to
Fig. 2, the vehicle lane change system for prompting of the present embodiment, including video acquisition device 210, processor 220 and voice device 230.
Video acquisition device 210, for acquiring the video image information of this vehicle front and this rear of vehicle.
Processor 220 is connect with video acquisition device 210, for obtaining the video of this vehicle front and this rear of vehicle
Image information, and the driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to video image information, row
Sailing state relation includes relative velocity, relative distance and relative position, and obtains the lane change of this vehicle and be intended to and according to lane change
Intention judges whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, obtains correspondence
The reason of forbidding lane change and be sent to voice device 230.
Voice device 230 is connect with processor 220, for exporting the reason of forbidding lane change to remind and forbid lane change.
In one embodiment, processor 220 is also used to:
The vehicle for including in the video image information of this vehicle front and the video image information of this rear of vehicle is extracted respectively
Diatom information and information of vehicles；
Relative distance and this vehicle and rear of this vehicle and front vehicles are calculated separately according to the information of vehicles extracted
The relative distance of vehicle；
The relative velocity and this vehicle and rear vehicle of this vehicle and front vehicles are calculated separately according to the variation of relative distance
Relative velocity；
The relative position for analyzing this vehicle and front vehicles respectively according to the lane line information extracted and this vehicle are with after
The relative position of square vehicle.
In one embodiment, processor 220 is also used to:
According to the lane line for including in the video image information of this vehicle front and the video image information of this rear of vehicle
Information analyzes the relative position of the lane line in this vehicle and place lane；
Monitor the changing rule of the relative position of the lane line in this vehicle and place lane；
When the changing rule of this vehicle and the relative position of the lane line in place lane meets lane change feature, according to lane change
The lane change that feature obtains this vehicle is intended to.
In one embodiment, processor 220 is also used to:
Forbid the control signal of lane change to forbid this vehicle lane change to the output of this vehicle.
In one embodiment, processor 220 is also used to, when driving status relationship meets urgent lane change condition, according to
Driving status relationship determines the urgent lane change direction of this vehicle；
Voice device 230 is also used to, and exports the urgent lane change prompt to the lane change of urgent lane change direction.
In one embodiment, processor 220 is also used to, and controls turn signal corresponding with urgent lane change direction and turn signal
Instrument icon is opened.
Video acquisition fills the tool of 210, processor 220 and voice device 230 in the vehicle lane change system for prompting of the present embodiment
Body running process please refers to the description of embodiment illustrated in fig. 1, and details are not described herein.
The vehicle lane change system for prompting of the present embodiment, the video image by obtaining this vehicle front and this rear of vehicle are believed
Breath analyzes the driving status relationship between this vehicle and front vehicles, front vehicle according to video image information, and driving status is closed
System includes relative velocity, relative distance and relative position, and obtains the lane change intention of this vehicle and be intended to judge according to lane change
Whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, obtains and corresponding forbids becoming
The reason of road, simultaneously exports the reason of forbidding lane change to remind and forbid lane change by interior voice device.In this way, originally
Application can provide help by way of voice reminder for the lane change behavior of this vehicle, to improve drive safety.
Fig. 3 is a kind of structural schematic diagram of the vehicle lane change system for prompting shown according to another exemplary embodiment.It please join
Examine Fig. 3, the vehicle lane change system for prompting of the present embodiment, including video acquisition device 310, processor 320, voice device 330 and
HD recording module 340.
Video acquisition device 310, for acquiring the video image information of this vehicle front and this rear of vehicle.
Processor 320 is connect with video acquisition device 310, for obtaining the video of this vehicle front and this rear of vehicle
Image information, and the driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to video image information, row
Sailing state relation includes relative velocity, relative distance and relative position, and, the lane change for obtaining this vehicle is intended to, and according to change
Road intention judges whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, acquisition pair
Answer the reason of forbidding lane change and be sent to voice device 330.
Voice device 330 is connect with processor 320, for exporting the reason of forbidding lane change to remind and forbid lane change.
In one embodiment, voice device 330 is car entertainment system terminal.HD recording module 340, with processor
320 connections, are used for store video images information.
Video acquisition fills the tool of 310, processor 320 and voice device 330 in the vehicle lane change system for prompting of the present embodiment
Body running process please refers to the description of embodiment illustrated in fig. 1, and details are not described herein.
The vehicle lane change system for prompting of the present embodiment, the video image by obtaining this vehicle front and this rear of vehicle are believed
Breath analyzes the driving status relationship between this vehicle and front vehicles, front vehicle according to video image information, and driving status is closed
System includes relative velocity, relative distance and relative position, and obtains the lane change intention of this vehicle and be intended to judge according to lane change
Whether driving status relationship meets lane change condition, if driving status relationship does not meet lane change condition, obtains and corresponding forbids becoming
The reason of road, simultaneously exports the reason of forbidding lane change to remind and forbid lane change by interior voice device.In this way, originally
Application can provide help by way of voice reminder for the lane change behavior of this vehicle, to improve drive safety.
The application also provides a kind of automatic driving vehicle, and processor, the place has can be set in the automatic driving vehicle
When managing device execution program data, walked for realizing involved in vehicle lane change based reminding method described in Fig. 1 and embodiments thereof
Suddenly.The automatic driving vehicle can be electric vehicle or oil gas vehicle, be not limited thereto.
The above is only the preferred embodiment of the application, not makes any form of restriction to the application, though
Right the application has been disclosed in a preferred embodiment above, however is not limited to the application, any technology people for being familiar with this profession
Member, is not departing within the scope of technical scheme, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but all technical spirits pair without departing from technical scheme content, according to the application
Any simple modification, equivalent change and modification made by above embodiments, in the range of still falling within technical scheme.
Claims (10)
1. a kind of vehicle lane change based reminding method characterized by comprising
Obtain this vehicle front and the video image information of this rear of vehicle；
The driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to the video image information, it is described
Driving status relationship includes relative velocity, relative distance and relative position；
The lane change for obtaining this vehicle is intended to；
Judge whether the driving status relationship meets lane change condition according to lane change intention；
If the driving status relationship does not meet lane change condition, corresponding the reason of forbidding lane change is obtained and by interior language
Lane change prompting and described the reason of forbidding lane change, are forbidden in mixer output.
2. vehicle lane change based reminding method according to claim 1, which is characterized in that described according to the video image information
Analyze the driving status relationship between this vehicle and front vehicles, front vehicle, comprising:
The lane line for including in the video image information of this vehicle front and the video image information of this rear of vehicle is extracted respectively
Information and information of vehicles；
The relative distance and this vehicle and front vehicle of this vehicle and front vehicles are calculated separately according to the information of vehicles extracted
Relative distance；
The relative velocity and this vehicle and rear vehicle of this vehicle and front vehicles are calculated separately according to the variation of the relative distance
Relative velocity；
Analyze relative position and this vehicle and rear vehicle of this vehicle and front vehicles respectively according to the lane line information extracted
Relative position.
3. vehicle lane change based reminding method according to claim 1 or 2, which is characterized in that the lane change for obtaining this vehicle
It is intended to, comprising:
According to the lane line information for including in the video image information of the video image information of this vehicle front and this rear of vehicle,
Analyze the relative position of the lane line in this vehicle and place lane；
Monitor the changing rule of the relative position of the lane line in this vehicle and place lane；
When the changing rule of this vehicle and the relative position of the lane line in place lane meets lane change feature, according to the lane change
The lane change that feature obtains this vehicle is intended to.
4. vehicle lane change based reminding method according to claim 1 or 2, which is characterized in that the lane change for obtaining this vehicle
It is intended to, comprising:
Monitor the steering modulating signal of this vehicle；
When monitoring to turn to modulating signal, according to the lane change intention of this vehicle of the turn signal signal acquisition.
5. vehicle lane change based reminding method according to claim 1, which is characterized in that described obtain corresponding forbids lane change
Reason simultaneously forbids lane change to remind and after described the reason of forbidding lane change by interior voice device output, further includes:
Forbid the control signal of lane change to forbid this vehicle lane change to the output of this vehicle.
6. vehicle lane change based reminding method according to claim 1, which is characterized in that the vehicle lane change based reminding method, also
Include:
When the driving status relationship meets urgent lane change condition, the urgent of this vehicle is determined according to the driving status relationship
Lane change direction；
It is exported by interior voice device to the urgent lane change of the urgent lane change direction lane change and is prompted.
7. vehicle lane change based reminding method according to claim 6, which is characterized in that described defeated by interior voice device
After being prompted out to the urgent lane change of the urgent lane change direction lane change, further includes:
Control turn signal unlatching corresponding with the urgent lane change direction.
8. vehicle lane change based reminding method according to claim 1, which is characterized in that the lane change condition includes the row
It sails small more than or equal to pre-determined distance and/or relative velocity with the associated relative distance of the lane change of this vehicle intention in state relation
In or equal to pre-set velocity.
9. a kind of vehicle lane change system for prompting characterized by comprising
Video acquisition device, for acquiring the video image information of this vehicle front and this rear of vehicle；
Processor is connect with the video acquisition device, and the video image for obtaining this vehicle front and this rear of vehicle is believed
Breath, and the driving status relationship between this vehicle and front vehicles, front vehicle is analyzed according to the video image information, it is described
Driving status relationship includes relative velocity, relative distance and relative position, and, the lane change for obtaining this vehicle is intended to and according to institute
It states lane change intention and judges whether the driving status relationship meets lane change condition, if the driving status relationship does not meet lane change item
Part then obtains corresponding the reason of forbidding lane change and is sent to voice device；
The voice device, is connected to the processor, and forbids lane change prompting and described the reason of forbidding lane change for exporting.
10. vehicle lane change system for prompting according to claim 9, which is characterized in that the vehicle lane change system for prompting is also
Including HD recording module, for storing the video image information.
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Address after: Room 208, building 4, 1411 Yecheng Road, Jiading District, Shanghai, 201821 Applicant after: Botai vehicle networking technology (Shanghai) Co.,Ltd. Address before: Room 208, building 4, 1411 Yecheng Road, Jiading District, Shanghai, 201821 Applicant before: SHANGHAI PATEO ELECTRONIC EQUIPMENT MANUFACTURING Co.,Ltd. |