CN111409649B - Early warning method and device for lane change of vehicle, computer equipment and storage medium - Google Patents

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

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Publication number
CN111409649B
CN111409649B CN201910007942.5A CN201910007942A CN111409649B CN 111409649 B CN111409649 B CN 111409649B CN 201910007942 A CN201910007942 A CN 201910007942A CN 111409649 B CN111409649 B CN 111409649B
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current vehicle
lane
warning
speed
information
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CN111409649A (en
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唐帅
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Audi AG
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Audi AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

Abstract

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

Description

Early warning method and device for lane change of vehicle, computer equipment and storage medium
Technical Field
The present application relates to the field of traffic technologies, and in particular, to a method and apparatus for early warning of lane change of a vehicle, a computer device, and a computer readable storage medium.
Background
With the development of society, vehicles are becoming more and more popular in the traffic technology field. In order to improve the driving safety of vehicles, roads are generally divided into different types of lanes such as fast lanes, slow lanes, emergency lanes, etc., so that drivers can safely and regularly drive vehicles on the roads.
In the conventional technology, when a driver selects to change lanes during driving of a vehicle, the driver generally checks traffic signs on the lanes by looking at the traffic signs manually or judges whether the lane change is possible according to personal habits. However, the judgment result of the driver is often inaccurate, which results in that the driver is prone to generate illegal behaviors in the driving process.
Therefore, the conventional method is adopted for lane changing, and the problem of lower accuracy exists.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a vehicle lane change early warning method and apparatus, a computer device, and a computer readable storage medium that can improve lane change accuracy, in order to solve the above-mentioned technical problem of low lane change accuracy.
A vehicle lane change warning method, the method comprising:
obtaining the deviation information of the current vehicle from the original lane and obtaining the limiting condition of the target lane;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning.
In one embodiment, the deviation information includes attribute information, and the restriction condition includes a lane type;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to send out a warning, and the method comprises the following steps of:
acquiring attribute information in the deviation information and acquiring a lane type in the limiting condition;
and if the attribute information is not matched with the lane type, outputting the warning instruction.
In one embodiment, the deviation information includes a current vehicle speed, and the limit condition includes speed limit information;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to send out a warning, and the method further comprises the following steps:
acquiring the current vehicle speed in the deviation information and acquiring the speed limit information in the limiting condition;
and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, the step of outputting the warning command if the current vehicle speed does not match the speed limit information includes:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
In one embodiment, the step of outputting the warning command if the current vehicle speed does not match the speed limit information further includes:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is smaller than the minimum speed limit, outputting the warning instruction.
In one embodiment, the method further comprises:
acquiring the first time for the current vehicle to reach the position of the speed measuring device from the current position;
acquiring a second time required by the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane;
calculating a third time according to the first time and the second time;
and if the current vehicle is determined to be in the third time, the current vehicle tries to change from the original lane to the target lane, and a return instruction is output, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
In one embodiment, the method further comprises:
acquiring the position information of the current vehicle;
and determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
In one embodiment, before the step of obtaining the deviation information of the current vehicle from the original lane and obtaining the limitation condition of the target lane, the method includes:
acquiring state information of the current vehicle;
and if the state information of the current vehicle meets the preset condition, determining that the current vehicle tries to change from the original lane to the target lane.
In one embodiment, the step of determining that the current vehicle tries to change from the original lane to the target lane if the state information of the current vehicle satisfies a preset condition includes:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle passes through the lane line, determining that the current vehicle tries to change from an original lane to the target lane.
In one embodiment, the step of determining that the current vehicle tries to change from the original lane to the target lane if the state information of the current vehicle meets a preset condition further includes:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from an original lane to the target lane.
A vehicle lane change warning device, the device comprising:
the information acquisition module is used for acquiring the deviation information of the current vehicle from the original lane and acquiring the limiting condition of the target lane;
and the warning output module is used for outputting a warning instruction if the deviation information is not matched with the limiting condition, and the warning instruction is used for controlling the warning device to send out warning.
A computer device comprising a memory storing a computer program and a processor implementing the steps of any one of the methods described above when the processor executes the computer program.
A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of any of the preceding claims.
When the current vehicle tries to change to the target lane, if the deviation information of the current vehicle is not matched with the limiting condition of the target lane, controlling the warning device to send out a violation warning. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of the user is guaranteed.
Drawings
FIG. 1 is an application environment diagram of a vehicle lane change warning method in one embodiment;
FIG. 2 is a flow chart of a method for early warning of lane change of a vehicle according to an embodiment;
FIG. 3 is a flowchart illustrating steps for comparing attribute information of a current vehicle with a lane type of a target lane in one embodiment;
FIG. 4 is a flow chart of steps for comparing a current speed of a current vehicle with speed limit information for a target lane in one embodiment;
FIG. 5 is a flow chart of a method for early warning of lane change of a vehicle according to another embodiment;
FIG. 6 is a flowchart illustrating steps for determining an original lane and an adjacent lane in which a current vehicle is located in one embodiment;
FIG. 7 is a flow chart illustrating steps for determining that a current vehicle is attempting to change from an original lane to a target lane in one embodiment;
FIG. 8 is a block diagram of a vehicle lane change warning device according to one embodiment;
fig. 9 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The execution main body of the vehicle lane change early warning method provided by the embodiment of the application can be the vehicle lane change early warning device related to the following embodiment. Alternatively, the early warning device may be implemented in software, hardware or a combination of software and hardware. Alternatively, the early warning device may be a part of the device integrated in the electronic device, or may be a separate electronic device. It should be clear that the execution main body of the vehicle lane change early warning method provided by the application is not limited as long as the early warning purpose can be realized.
In one embodiment, the vehicle lane change early warning method provided by the application can be applied to an application environment as shown in fig. 1. The application environment comprises an early warning device 100, an image acquisition device 200 and a warning device 300 for lane changing of the vehicle. Alternatively, the early warning device 100, the image pickup device 200, and the warning device 300 may be installed in the current vehicle. Of course, the warning device 100, the image capturing device 200, and the warning device 300 may be installed at other positions than the vehicle as long as the functions of the respective devices can be realized.
Optionally, the early warning device 100 may also be disposed in a cloud server (Online server). The early warning device 100 may be various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, or some device in a vehicle, such as a central control device, an auxiliary driving device, a car machine, or a navigation device.
Specifically, the image acquisition device 200 is configured to acquire image information during the running of the current vehicle when the current vehicle is running on a certain road. Wherein the image information may include lane information including a restriction condition of each lane. When the early warning device 100 determines that the current vehicle tries to change from the original lane to the target lane, the early warning device 100 is configured to acquire the deviation information of the current vehicle from the original lane in real time, and acquire the restriction condition of the target lane through the image acquisition device 200. If the deviation information does not match the constraint condition, the warning device 100 issues a warning instruction to the warning device 300, so that the warning device 300 issues a warning.
In one embodiment, as shown in fig. 2, a vehicle lane change warning method is provided, and the method is applied to the warning device 100 in fig. 1 for illustration. Wherein the warning device 100 is installed on the current vehicle. The method specifically comprises the following steps:
s202, obtaining deviation information of the current vehicle from an original lane and obtaining a limiting condition of a target lane.
The original lane refers to a lane where the current vehicle is located before the current vehicle does not change lanes. The target lane refers to the lane that the current vehicle is attempting to change. Optionally, the target lane is adjacent to the original lane. The deviation information refers to information generated during the lane change of the current vehicle, and may include attribute information of the current vehicle and speed information of the current vehicle. The restriction condition includes a traffic specification of the target lane. Wherein, the attribute information of the current vehicle can comprise the characteristic information of the current vehicle, such as the type of the vehicle, the license plate number, the color of the vehicle and the like.
Specifically, the image acquisition device acquires and stores limiting conditions of the target lane in real time. When the early warning device determines that the current vehicle tries to change from the original lane to the target lane, the early warning device acquires the deviation information of the current vehicle from the original lane in real time and acquires the limiting condition of the target lane from the image acquisition device.
Alternatively, the condition that the current vehicle tries to change to the target lane may be set in advance, so that when the current vehicle actually travels, the early warning device may determine that the current vehicle tries to change from the original lane to the target lane once the actual traveling state satisfies the preset condition. The setting of the above conditions can be achieved, for example, by means of the steering angle of the steering wheel.
And S204, outputting a warning instruction if the deviation information is not matched with the limiting condition, wherein the warning instruction is used for controlling a warning device to send out a warning.
Specifically, the early warning device matches the deviation information with the corresponding constraint condition. If the early warning device judges that the deviation information is not matched with the corresponding limiting condition, namely, when the current vehicle changes to the target lane in the current state, the passing rule of the target lane is violated, the early warning device sends a warning instruction to the warning device, and accordingly the warning device is controlled to send out illegal warnings.
Further, the means of offence warning includes, but is not limited to, visual warning means, audible warning means, or tactile warning means.
According to the vehicle lane change early warning method, when the current vehicle tries to change to the target lane, if the deviation information of the current vehicle is not matched with the limiting condition of the target lane, the warning device is controlled to give out a violation warning. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of the user is guaranteed.
As a specific embodiment, in the current vehicle, the warning modes include a visual warning mode, an audible warning mode and a tactile warning mode, and various warning modes are combined, for example, warning images are output, warning voices are sent or vibration is triggered, so that timeliness of sending warning information can be ensured, a user is assisted to quickly respond, and the current vehicle cannot violate traffic regulations.
Further, the visual alert mode may include adding speed limit information on the in-vehicle display screen. The audible alert means may include voice reporting of speed limit information, such as reporting "care-! The speed limit of the right lane is 100 km/h-! Current speeds are 115 km/h. The tactile alert means may include generating a vibration signal to the user.
In one embodiment, please refer to fig. 3, which refers to a specific process of issuing a violation warning if the attribute information of the current vehicle does not match the lane type of the target lane. Specifically, S204 includes the steps of:
s2042, acquiring attribute information in the deviation information and acquiring a lane type in the limiting condition;
and S2044, outputting the warning instruction if the attribute information is not matched with the lane type.
Wherein the deviation information of the current vehicle includes attribute information of the current vehicle, and the attribute information of the current vehicle may include a current vehicle type, such as a car, a bus, a van, a bus, and the like. The restriction conditions of the target lane include the lane type of the target lane, such as a dedicated lane, an emergency lane, and the like.
Specifically, the early warning device matches attribute information of the current vehicle with a lane type of the target lane. If the attribute information of the current vehicle is not matched with the lane type of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out illegal warning.
The above embodiments are described herein by way of a simple example. The special lanes may include a bus special lane, which is generally defined as a number written on the bus special lane is a bus special time, and other vehicles are not permitted to walk. If the current vehicle is a car, the car tries to change into a special bus lane in a special bus time, and the car does not meet the running condition on the special bus lane in the time, namely the attribute information of the current vehicle is not matched with the lane type of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out illegal warning.
In another embodiment, please refer to fig. 4, which refers to a specific process of issuing a violation warning if the speed information of the current vehicle does not match the speed limit information of the target lane. Specifically, S204 further includes the steps of:
s2041, obtaining the current vehicle speed in the deviation information and obtaining speed limit information in the limiting condition;
and S2043, outputting the warning instruction if the current vehicle speed is not matched with the speed limit information.
The deviation information of the current vehicle comprises speed information of the current vehicle, and the speed information comprises the current speed of the current vehicle. The restriction conditions of the target lane include speed limit information of the target lane, such as a highest speed limit and a lowest speed limit.
Specifically, the early warning device matches the current speed of the current vehicle with speed limit information of the target lane. If the current speed of the current vehicle is not matched with the speed limit information of the target lane, the early warning device sends a warning instruction to the warning device, so that the warning device is controlled to send out illegal warning.
Optionally, the early warning device may directly obtain the current speed of the current vehicle, or may indirectly obtain the current speed of the current vehicle through the speed measuring device, which is not limited herein. The current speed of the current vehicle can be displayed through a speedometer, so that the current speed of the current vehicle is convenient for a user to watch.
Further, the speed limit information of the target lane can be obtained through the image acquisition device, and optionally, the image acquisition device is a front camera. The early warning device acquires speed limit information of the target lane from the image acquisition device. Wherein the speed limit information may include different road segment limit speeds. Furthermore, the early warning device stores the speed limit information so as to facilitate subsequent calling.
According to the vehicle lane change early warning method, if the current vehicle tries to change to the target lane, if the current speed of the current vehicle is determined not to meet the speed limit condition of the target lane, the warning device is controlled to send out overspeed warning. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle can be improved, and the personal safety of a user can be guaranteed by adopting the method.
As an embodiment, taking the speed limit information as the highest speed limit as an example, S2043 includes the steps of:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
Specifically, the early warning device compares the current vehicle speed with the highest speed limit. If the early warning device determines that the current speed of the current vehicle is greater than the highest speed limit, the early warning device sends an early warning control signal to the warning device, so that the warning device is controlled to send out overspeed warning.
As another embodiment, taking the speed limit information as the lowest speed limit as an example, S2043 further includes the following steps:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is smaller than the minimum speed limit, outputting the warning instruction.
Specifically, the early warning device compares the current vehicle speed with the minimum speed limit. If the early warning device determines that the current speed of the current vehicle is smaller than the minimum speed limit, the early warning device sends an early warning control signal to the warning device, so that the warning device is controlled to send out illegal warnings.
In one embodiment, by triggering an automatic steering function, it is further ensured that the current vehicle does not violate traffic regulations. Referring to fig. 5, specifically, the method further includes the following steps:
s302, acquiring the first time for the current vehicle to reach the position of the speed measuring device from the current position;
s304, acquiring a second time required by the current vehicle to adjust from the current speed to the limiting speed of the target lane;
s306, calculating a third time according to the first time and the second time;
and S308, if the current vehicle is determined to be in an attempt to change from the original lane to the target lane in the third time, outputting a return instruction, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
Specifically, in S302, the speed measuring device refers to a speed measuring device that is located in front of the current vehicle and closest to the current vehicle. The speed measuring device may comprise a monitoring camera.
In S304, the acceleration involved in the speed adjustment of the current vehicle is an acceleration value during normal running of the current vehicle. Alternatively, the acceleration may be preset and stored in the current vehicle. For example, the acceleration may be set to 2m/s 2 Or-2 m/s 2 。
For the sake of more clear explanation of the present embodiment, let the first time be T 1 The distance between the current position of the current vehicle and the position of the speed measuring device is X 1 The current speed of the current vehicle is V 1 T is then 1 ＝X 1 /V 1 。
Let the second time be T 2 The limiting speed of the target lane is V 2 The preset acceleration of the current vehicle is a, T 2 ＝(V 1 -V 2 )/a。
Let the third time be T 3 T is then 3 ＝T 1 +T 2 。
Thus, if the current vehicle is at T 3 And in the time, the early warning device determines that the current vehicle tries to change to the target lane, and determines that the current speed of the current vehicle does not meet the speed limiting condition, and then sends a control steering signal to the control steering system, so that the control steering system guides the current vehicle to return to the original lane according to the control steering signal.
More specifically, directing the current vehicle to return to the original lane may be an automatically occurring process for the current vehicle, the process comprising: the early warning device starts a control steering signal to a control steering system through a controller, for example, the control steering signal is controlled to turn left by 30 degrees, and then the control steering system utilizes the power output by a steering motor to control the steering wheel of the current vehicle to turn left by 30 degrees.
In the embodiment, by setting the third time, not only is the current vehicle assisted to change back to the original lane, but also overspeed warning is sent out to remind the user, so that the early warning measures are more perfect, the current vehicle is further ensured not to violate the traffic regulations, the trouble caused by overspeed of the user is solved, and the safety of the user is ensured.
In one embodiment, it relates to how to determine the original lane information in which the current vehicle is currently located. Referring to fig. 6, specifically, the method further includes the following steps:
s402, acquiring the position information of the current vehicle;
s404, determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
Specifically, the position information of the current vehicle is acquired by one or a combination of a front-facing camera, an inertial measurement unit (Inertial Measurement Unit, IMU) and a global satellite navigation system (Global Navigation Satellite System, GNSS), and is sent to an early warning device. The early warning device judges the original lane where the current vehicle is located according to the position information of the current vehicle, and determines the adjacent lane adjacent to the original lane. By acquiring the position information of the current vehicle, whether the current vehicle changes lanes or not is further accurately determined.
In one embodiment, it relates to a process of how to determine how the current vehicle is attempting to change to the target lane. Referring to fig. 7, the step S202 includes the following steps:
s2012, acquiring state information of the current vehicle;
s2014, if the state information of the current vehicle meets the preset condition, determining that the current vehicle tries to change from an original lane to the target lane.
Specifically, the state information refers to state information of the current vehicle traveling in the original lane, for example, the state information may be that the current vehicle presses a lane line, or that a steering wheel has a larger steering angle, and so on. The early warning device acquires the state information of the current vehicle in real time, and once the state information meets the corresponding preset condition, the current vehicle is determined to try to change from the original lane to the target lane. The state information of the current vehicle is collected and compared, so that whether the current vehicle changes lanes or not can be accurately determined.
Optionally, as an embodiment, this embodiment is a further explanation of how it is determined above how the current vehicle is attempting to change from the original lane to the target lane. Specifically, step S2014 includes the steps of:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle passes through the lane line, determining that the current vehicle tries to change from an original lane to the target lane.
Specifically, the preset condition may be that a preset portion of the current vehicle passes over the lane line, and the preset portion of the current vehicle may be a vehicle body edge or a wheel. For example, when the edge or wheel of the current vehicle passes over the lane line, the warning device determines that the current vehicle is attempting to change to the target lane. By monitoring whether the current vehicle crosses the lane line, it can be accurately determined whether the current vehicle changes lanes.
Alternatively, as another embodiment, this embodiment is also a further explanation of how it is determined above how the current vehicle is attempting to change from the original lane to the target lane. Specifically, step S2014 further includes the steps of:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from an original lane to the target lane.
Specifically, the preset condition may be a preset threshold corresponding to a steering angle of a current vehicle steering wheel. For example, when the angle detection means detects that the steering angle of the steering wheel of the current vehicle exceeds the preset threshold, the early warning means determines that the current vehicle tries to change to the target lane. By detecting the steering angle of the steering wheel of the current vehicle, it is possible to accurately determine whether the current vehicle changes lanes.
It should be understood that, although the steps in the flowcharts of fig. 2-7 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-7 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
In one embodiment, as shown in fig. 8, there is provided a vehicle lane change warning device 100, including: an acquisition module 1002 and an output module 1004, wherein:
the information obtaining module 1002 is configured to obtain deviation information of the current vehicle from the original lane, and obtain a restriction condition of the target lane.
And the warning output module 1004 is configured to output a warning instruction if the deviation information does not match the limiting condition, where the warning instruction is used to control the warning device to issue a warning.
When the current vehicle tries to change to the target lane, the warning device is controlled to give out illegal warning if the deviation information of the current vehicle is not matched with the limiting condition of the target lane. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of the user is guaranteed.
In one embodiment, the warning output module 1004 is further configured to obtain attribute information of the current vehicle, and obtain a lane type in the constraint condition; and if the attribute information is not matched with the lane type, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a current speed of the current vehicle, and obtain speed limit information in the limiting condition; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a limiting speed in the speed limit information, where the limiting speed includes a highest speed limit; and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
In one embodiment, the warning output module 1004 is further configured to obtain a limiting speed in the speed limit information, where the limiting speed includes a minimum speed limit; and if the current vehicle speed is smaller than the minimum speed limit, outputting the warning instruction.
In one embodiment, the apparatus further comprises:
a first time acquisition module (not shown) is configured to acquire a first time for the current vehicle to reach the speed measuring device from the current position.
A second time acquisition module (not shown) for acquiring a second time required for the current vehicle to adjust from a current vehicle speed to a speed limit of the target lane.
And a third time calculation module (not shown) configured to calculate a third time according to the first time and the second time.
And a return instruction output module (not shown) for outputting a return instruction for controlling the steering system to guide the current vehicle to return to the original lane if the current vehicle is determined to attempt to change from the original lane to the target lane within the third time.
In one embodiment, the apparatus further comprises:
a location determining module (not shown) for acquiring location information of the current vehicle.
And the lane recognition module (not shown) is used for determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain status information of the current vehicle; and if the state information of the current vehicle meets the preset condition, determining that the current vehicle tries to change from the original lane to the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain a lane line between an original lane in which the current vehicle is located and the target lane; and if the preset part of the current vehicle passes through the lane line, determining that the current vehicle tries to change from an original lane to the target lane.
In one embodiment, the information obtaining module 1002 is further configured to obtain a steering angle of the steering wheel of the current vehicle to the target lane; and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from an original lane to the target lane.
The specific limitation of the vehicle lane change warning device can be referred to the limitation of the vehicle lane change warning method, and will not be described herein. All or part of the modules in the vehicle lane change early warning device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing a vehicle lane change early warning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program:
obtaining the deviation information of the current vehicle from the original lane and obtaining the limiting condition of the target lane;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring attribute information of the current vehicle and acquiring a lane type in the limiting condition; and if the attribute information is not matched with the lane type, outputting the warning instruction.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring the current speed of the current vehicle and acquiring speed limit information in the limiting condition; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
obtaining the deviation information of the current vehicle from the original lane and obtaining the limiting condition of the target lane;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring attribute information of the current vehicle and acquiring a lane type in the limiting condition; and if the attribute information is not matched with the lane type, outputting the warning instruction.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current speed of the current vehicle and acquiring speed limit information in the limiting condition; and if the current vehicle speed is not matched with the speed limit information, outputting the warning instruction.
According to the above-described computer apparatus and computer-readable storage medium, when the current vehicle tries to change to the target lane, the warning device is controlled to issue the violation warning if the deviation information of the current vehicle does not match the restriction condition of the target lane. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of the user is guaranteed.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (11)

1. A vehicle lane change pre-warning method, the method comprising:
acquiring deviation information of a current vehicle from an original lane in real time, and acquiring a limiting condition of a target lane through an image acquisition device;
outputting a warning instruction for controlling the warning device to issue a warning if the deviation information does not match the limiting condition,
wherein the deviation information comprises a current vehicle speed, and the limiting condition comprises speed limit information;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to send out a warning, and the method further comprises the following steps:
acquiring the current vehicle speed in the deviation information and acquiring the speed limit information in the limiting condition;
outputting the warning instruction if the current vehicle speed is not matched with the speed limit information,
wherein the method further comprises:
acquiring the first time for the current vehicle to reach the position of the speed measuring device from the current position;
acquiring a second time required by the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane;
calculating a third time according to the first time and the second time;
and if the current vehicle is determined to be in the third time, the current vehicle tries to change from the original lane to the target lane, and a return instruction is output, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
2. The method of claim 1, wherein the deviation information includes attribute information and the restriction condition includes a lane type;
and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to send out a warning, and the method comprises the following steps of:
acquiring attribute information in the deviation information and acquiring a lane type in the limiting condition;
and if the attribute information is not matched with the lane type, outputting the warning instruction.
3. The method according to claim 1, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information includes:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the highest speed limit;
and if the current vehicle speed is greater than the highest speed limit, outputting the warning instruction.
4. The method according to claim 1, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information, further comprises:
obtaining limiting speed in the speed limiting information, wherein the limiting speed comprises the lowest speed limit;
and if the current vehicle speed is smaller than the minimum speed limit, outputting the warning instruction.
5. The method according to claim 1, wherein the method further comprises:
acquiring the position information of the current vehicle;
and determining an original lane where the current vehicle is located and an adjacent lane adjacent to the original lane according to the position information, wherein the adjacent lane comprises the target lane.
6. The method according to claim 1, wherein before the step of acquiring the deviation information of the current vehicle from the original lane and acquiring the restriction condition of the target lane, the method comprises:
acquiring state information of the current vehicle;
and if the state information of the current vehicle meets the preset condition, determining that the current vehicle tries to change from the original lane to the target lane.
7. The method according to claim 6, wherein the step of determining that the current vehicle tries to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition, comprises:
acquiring a lane line between an original lane where the current vehicle is located and the target lane;
and if the preset part of the current vehicle passes through the lane line, determining that the current vehicle tries to change from an original lane to the target lane.
8. The method of claim 6, wherein the step of determining that the current vehicle is attempting to change from an original lane to the target lane if the state information of the current vehicle satisfies a preset condition, further comprises:
acquiring a steering angle of a steering wheel of the current vehicle to the target lane;
and if the steering angle exceeds a preset threshold value, determining that the current vehicle tries to change from an original lane to the target lane.
9. A vehicle lane change warning device, the device comprising:
the information acquisition module is used for acquiring the deviation information of the current vehicle from the original lane in real time and acquiring the limiting condition of the target lane through the image acquisition device;
a warning output module for outputting a warning instruction for controlling the warning device to issue a warning if the deviation information does not match the limiting condition,
wherein, the warning output module is further used for:
acquiring the current speed of the current vehicle and acquiring speed limit information in the limiting condition;
outputting the warning instruction if the current vehicle speed is not matched with the speed limit information,
wherein the apparatus further comprises:
the first time acquisition module is used for acquiring the first time for the current vehicle to reach the speed measuring device from the current position;
a second time acquisition module for acquiring a second time required for the current vehicle to adjust from a current vehicle speed to a speed limit of the target lane;
the third time calculation module is used for calculating a third time according to the first time and the second time;
and the return instruction output module is used for outputting a return instruction if the current vehicle is determined to try to change from the original lane to the target lane in the third time, wherein the return instruction is used for controlling a steering system to guide the current vehicle to return to the original lane.
10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 8 when the computer program is executed.
11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.
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