CN114170846A - Vehicle lane change early warning method, device, equipment and storage medium - Google Patents
Vehicle lane change early warning method, device, equipment and storage medium Download PDFInfo
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- CN114170846A CN114170846A CN202111600774.4A CN202111600774A CN114170846A CN 114170846 A CN114170846 A CN 114170846A CN 202111600774 A CN202111600774 A CN 202111600774A CN 114170846 A CN114170846 A CN 114170846A
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- 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
The disclosure provides a vehicle lane change early warning method, a vehicle lane change early warning device, vehicle lane change early warning equipment and a storage medium, and relates to the technical field of automatic driving, in particular to the field of remote control. The specific implementation scheme is as follows: receiving road monitoring information, wherein the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of a vehicle end; determining a monitoring area of a target lane based on the current position information of the vehicle end; and determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating a lane change early warning instruction according to the distribution condition. According to the technology disclosed by the invention, the monitoring and early warning functions aiming at the lane change of the vehicle in the remote control scene are realized, and the driving safety in the remote control scene is improved.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to the field of remote control, and specifically relates to a vehicle lane change early warning method, device, equipment and storage medium.
Background
In the remote control system, when a driver sits in a remote cockpit, the situation of insufficient rear side observation can occur due to non-personally on the scene or carelessness when changing lanes, the collision risk can also occur when the driver changes lanes due to insufficient rear side vehicle observation when driving in foggy or at night, or the lane change is performed by the driver who needs to be careful due to the blind area caused by the problem of the view angle of a vehicle camera.
Disclosure of Invention
The disclosure provides a vehicle lane change early warning method, a vehicle lane change early warning device, vehicle lane change early warning equipment and a storage medium.
According to one aspect of the disclosure, a vehicle lane change early warning method under a remote control scene is provided, which includes:
receiving road monitoring information, wherein the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of a vehicle end;
determining a monitoring area of a target lane based on the current position information of the vehicle end;
and determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating a lane change early warning instruction according to the distribution condition.
According to another aspect of the present disclosure, there is provided a lane change warning device for a vehicle under a remote control scenario, including:
the information receiving module is used for receiving road monitoring information, and the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of the vehicle end;
the monitoring area determining module is used for determining the monitoring area of the target lane based on the current position information of the vehicle end;
and the lane change early warning indication generation module is used for determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane and generating a lane change early warning indication according to the distribution condition.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method according to any one of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform a method in any of the embodiments of the present disclosure.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method in any of the embodiments of the present disclosure.
According to the technology disclosed by the invention, in the process of remotely controlling the vehicle end by the remote control end, the monitoring area of the target lane is monitored in real time, and the lane change early warning indication is generated according to the distribution condition of the obstacles in the monitoring area, so that the lane change early warning is carried out on the driver at the remote control end, the probability of safety accidents caused in the lane change process due to factors such as severe weather, driver negligence or rearview mirror blind areas and the like is reduced, and the driving safety under the remote control scene is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 shows a flowchart of a vehicle lane change warning method in a remote control scenario according to an embodiment of the present disclosure;
FIG. 2 illustrates a detailed flow chart of the method of determining a plurality of sub-regions according to an embodiment of the present disclosure;
FIG. 3 shows a detailed flow chart for determining the distribution of obstacles in a plurality of sub-regions according to a method of an embodiment of the present disclosure;
FIG. 4 illustrates a detailed flow diagram of generating a first lane change warning indication according to a method of an embodiment of the present disclosure;
FIG. 5 illustrates a detailed flow diagram of generating a second lane change warning indication according to a method of an embodiment of the present disclosure;
FIG. 6 illustrates a detailed flow diagram of generating a third lane change warning indication according to a method of an embodiment of the present disclosure;
FIG. 7 illustrates an application example diagram of a method according to an embodiment of the present disclosure;
fig. 8 shows a block diagram of a vehicle lane change warning device in a remote control scenario according to an embodiment of the present disclosure;
fig. 9 is a block diagram of an electronic device for implementing a vehicle lane change warning method according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 illustrates a vehicle lane change warning method in a remote control scenario according to an embodiment of the present disclosure.
As shown in fig. 1, the method for warning lane change of a vehicle in a remote control scenario according to the embodiment of the present disclosure includes the following steps:
s101: receiving road monitoring information, wherein the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of a vehicle end;
s102: determining a monitoring area of a target lane based on the current position information of the vehicle end;
s103: and determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating a lane change early warning instruction according to the distribution condition.
The vehicle lane change early warning method can be applied to a vehicle remote control system. Specifically, the vehicle remote control system comprises a vehicle end and a remote control end, wherein the remote control end is used for executing the vehicle lane change early warning method disclosed by the embodiment of the disclosure so as to realize real-time lane change early warning in the process of remotely controlling the vehicle end.
For example, in step S101, the remote control system performs network communication with the vehicle end, and the remote control system may receive road monitoring information from the vehicle end once every preset time interval. For example, the road monitoring information may be received every 0.1 second to continuously monitor the road environment traveled by the vehicle end without interruption.
The road monitoring information can be used for monitoring the road environment of the vehicle end in real time through a sensor arranged on the vehicle end, such as a camera and/or a laser radar. The road monitoring information at least comprises obstacle information, and the obstacle information comprises position information, boundary information, size information and the like of the obstacle. In addition, the road monitoring information may further include map information, which may include lane line boundary attribute information and the like.
It is understood that the target lane refers to a lane adjacent to a lane where the vehicle end is currently driving, for example, the target lane may be a left side lane or a right side lane of the lane where the vehicle end is currently driving.
For example, in step S102, a monitoring region corresponding to the current position information of the vehicle end is determined within the region of the target lane based on the current position information of the vehicle end. The monitoring area may be set with reference to a travel track that the vehicle end passes through from the current lane to the target lane.
For example, the monitoring area may be formed in combination with reference to an area in the target lane parallel to the position where the vehicle end is currently located, and a front-side area and a rear-side area located in the area.
For example, in step S103, the monitoring area may include a plurality of sub-areas, and the plurality of sub-areas may be divided according to the distance between the monitoring area and the current position of the vehicle end. It can be understood that the distance between the obstacle and the current position of the vehicle end directly affects the risk degree in the vehicle end lane changing process, that is, the smaller the distance between the obstacle and the vehicle end, the greater the threat generated when the vehicle end lane changing is performed, the greater the distance between the obstacle and the vehicle end, and the smaller the threat generated when the vehicle end lane changing is performed. Based on the method, different lane change early warning indications can be generated according to the distribution conditions of the obstacles in different sub-areas, so that early warning with different degrees can be performed according to different threat degrees formed by the obstacles.
Wherein, lane change early warning instruction can send out alarm sound through control alarm device, perhaps control pilot lamp scintillation, perhaps directly carries out the locking in order to avoid the car end to turn to the mode of lane change, and the suggestion driver carries out the lane change at present and has the risk.
According to the vehicle lane change early warning method under the remote control scene, the road monitoring information is received from the vehicle end, the monitoring area is determined in the target lane based on the current position information of the vehicle end, and the lane change early warning indication is generated according to the distribution condition of the obstacles in the monitoring area. Therefore, the monitoring area of the target lane can be monitored in real time in the process of remotely controlling the vehicle end by the remote control end, and the lane change early warning indication is generated according to the distribution condition of the obstacles in the monitoring area so as to carry out the lane change early warning on the driver at the remote control end, reduce the probability of safety accidents caused by factors such as bad weather, negligence of the driver or blind areas of rearview mirrors in the lane change process, and improve the driving safety in the remote control scene.
As shown in fig. 2, in one embodiment, the monitoring area includes a plurality of sub-areas, and step S102 includes:
s201: determining a first sub-area parallel to the current position of the vehicle end in the target lane based on the current position information of the vehicle end; and the number of the first and second groups,
s202: on the basis of the first sub-region, a second sub-region adjacent to the front side of the first sub-region is determined, and a third sub-region, a fourth sub-region and a fifth sub-region which are located on the rear side of the first sub-region and are sequentially adjacent are determined.
The plurality of sub-areas can be divided according to the relative position relationship between the position of the vehicle end in the current driving lane and the target lane, and the length and the width of each sub-area can be specifically set according to the length and the width of the vehicle body of the vehicle end.
In a specific example, as shown in fig. 7, taking the target lane located at the left side of the current driving lane at the vehicle end as an example, the length of the monitoring area of the target lane may be 4.5 times the length of the vehicle body, and the width of the monitoring area may be 2 times the width of the vehicle body. Specifically, the position of the first sub-area B in the target lane corresponds to the position of the vehicle end in the current driving lane in the horizontal direction, the length of the first sub-area B may be equal to the length of the vehicle body, and the width of the first sub-area B may be equal to 2 times the width of the vehicle body; the second sub-area A is adjacent to the front side edge of the first sub-area, the length of the second sub-area A can be equal to 0.5 time of the length of the vehicle body, and the width of the second sub-area A is equal to 2 times of the width of the vehicle body; the third sub-area C, the fourth sub-area D and the fifth sub-area E are located on the rear side of the first sub-area B, and the third sub-area C, the fourth sub-area D and the fifth sub-area E are sequentially abutted in the front-rear direction, wherein the front side edge of the third sub-area C is abutted to the rear side edge of the first sub-area B, and the lengths and the widths of the third sub-area C, the fourth sub-area D and the fifth sub-area E are equal to 2 times of the length and the width of a vehicle body.
It can be understood that, first, the first sub-area B and the second sub-area a are closer to the vehicle end, and the vehicle end inevitably passes through the first sub-area B and the second sub-area a in the process of changing the lane from the current driving lane to the target lane, so that the priority for the obstacle monitoring in the first sub-area B and the second sub-area a is highest. Secondly, the third sub-area C is adjacent to the first sub-area B, and under the condition that the speed and the moving direction of the obstacle in the third sub-area C meet certain conditions, a threat is formed in the process of changing the lane from the vehicle end to the target lane, so that the priority for monitoring the obstacle in the third sub-area C is second. Finally, the distance between the fifth sub-area E and the third sub-area C is greater than the distance between the fourth sub-area D and the third sub-area C, so that the obstacle in the fifth sub-area E has a greater interference effect on the lane change process of the vehicle end than the obstacle in the fourth sub-area D, and therefore the priority of monitoring the obstacle in the fourth sub-area D is higher than the priority of monitoring the obstacle in the fifth sub-area E.
Therefore, the monitoring area is divided into the plurality of sub-areas, the interference degree of obstacles in the plurality of sub-areas to the lane changing process of the vehicle end is different, therefore, the obstacles are detected respectively in the different sub-areas, and the corresponding alarm indication strategy can be formulated according to the detection results of the different sub-areas, so that the drivers at the remote control ends can be provided with early warnings of different degrees according to the different priority degrees.
As shown in fig. 3, in one embodiment, step S103 includes:
s301: determining a contour area of the obstacle according to the obstacle information;
s302: and determining the distribution condition of the obstacles in the plurality of sub-areas according to the outline area of the obstacles.
Illustratively, in step S301, the obstacle information specifically includes information of a plurality of vertices of the obstacle, the vertices may be connected one by one through a 3D model to generate a series of surfaces, and finally, the three-dimensional modeling of the obstacle is completed, and the contour area of the obstacle is obtained.
The image sensor and/or the laser radar sensor and the like arranged on the vehicle end collect sensing data of the road conditions around the vehicle, and the obstacle information can be obtained by correspondingly processing the sensing data.
In step S302, the distribution of the obstacles in the plurality of sub-areas may be, specifically, the overlapping condition of the contour area of the obstacle and each sub-area.
According to the embodiment, the position information of the obstacle can be evaluated according to the distribution condition of the outline area of the obstacle in each sub-area by acquiring the outline area of the obstacle and comparing the outline area of the obstacle with each sub-area, so that the threat degree of lane change of the obstacle to the vehicle end is judged, and the corresponding lane change early warning indication is generated.
In one embodiment, the lane change warning indication includes a first lane change warning indication, and step S103 includes:
and generating a first lane change early warning indication under the condition that the intersection exists between the outline area of the obstacle and the first sub-area or the second sub-area.
By way of example, the contour region of the obstacle intersects the first or second subregion, it being understood that at least part of the contour region of the obstacle lies within the first or second subregion.
For example, the contour region of the obstacle may be located only within the first sub-region or partially within the first sub-region. For another example, the contour region of the obstacle may be located only within the second sub-region or partially within the second sub-region. For another example, a portion of the contour region of the obstacle may be located within the first sub-region and another portion within the second sub-region.
It should be noted that, since the driving track of the vehicle end driving from the current driving lane to the target lane inevitably passes through the first sub-region and the second sub-region, in the case where at least part of the contour region of the obstacle intersects with the first sub-region or the second sub-region, the vehicle end inevitably collides with the obstacle in the process of changing the lane to the target lane, and therefore, the first lane change warning instruction needs to be generated in this case.
Through the embodiment, the first lane change early warning indication can be generated under the condition that the obstacle exists in the first sub-area or the second sub-area, a driver of the remote control end is reminded of the lane change risk under the current condition, and the probability of danger occurrence is reduced.
As shown in fig. 4, in one embodiment, step S103 further includes:
s401: under the condition that the contour area of the obstacle does not intersect with the first sub-area and the second sub-area, and does not intersect with the third sub-area, the movement direction and the movement speed of the obstacle are obtained;
s402: and generating a first lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the movement speed of the obstacle is greater than 0.
For example, in step S401, the outline region of the obstacle does not intersect with the first sub-region and the second sub-region, and intersects with the third sub-region, and may be that the outline region of the obstacle is located only in the third sub-region, or that the first half of the outline region of the obstacle is located in the third sub-region.
The obstacle information comprises the movement direction and the movement speed of the obstacle, and the movement direction and the movement speed of the obstacle can be obtained by carrying out corresponding data processing on sensing data acquired by a laser radar sensor arranged at the vehicle end.
It can be understood that, under the condition that the driving direction of the vehicle end is the same as the moving direction of the obstacle and the moving speed of the obstacle is greater than 0, the vehicle end is more likely to collide with the obstacle in the process of changing the lane from the current driving lane to the target lane, so that the lane changing has a greater risk under the current condition.
The first lane change warning indication generated in step S402 may adopt the same or similar warning strategy as the first lane change warning indication generated in the foregoing embodiment. For example, the steering wheel is controlled to be prevented from rotating, an alarm device is controlled to give an alarm sound, a lane change warning indicator lamp is controlled to flash, and the like.
Through the embodiment, under the condition that the obstacle exists in the third subregion and the moving direction and the moving speed of the obstacle meet certain conditions, the first lane change early warning indication is generated, a driver at the remote control end is reminded of the risk of lane change under the current condition, and the probability of danger occurrence is reduced.
As shown in fig. 5, in an embodiment, the lane change warning indication includes a second lane change warning indication, and step S103 includes:
s501: under the condition that the contour area of the obstacle does not intersect with any of the first subregion, the second subregion and the third subregion, and does not intersect with the fourth subregion, the movement direction and the movement speed of the obstacle are acquired;
s502: and generating a second lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
For example, in step S501, the outline area of the obstacle may be located only in the fourth sub-area, or the first half of the outline area of the obstacle may be located in the fourth sub-area.
It can be understood that, since the fourth sub-area is a certain distance away from the current position of the vehicle end, under the condition that the moving direction of the obstacle is the same as the driving direction of the vehicle end and the moving speed of the obstacle is greater than the driving speed of the vehicle end, the vehicle end can collide with the obstacle when changing to the target lane under the current condition, so that certain safety risk exists.
For example, in step S402, the warning degree of the second lane change warning indication may be smaller than that of the first lane change warning indication in the foregoing embodiment, so as to appropriately remind the driver of the remote control end to be careful in driving during the lane change.
Through the implementation mode, under the condition that the fourth sub-area is monitored to have the obstacle, and the moving direction and the moving speed of the obstacle meet certain conditions, a second lane changing early warning indication is generated, and a driver at the remote control end is reminded to drive cautiously in the lane changing process.
As shown in fig. 6, in an embodiment, the lane change warning indication includes a third lane change warning indication, and step S103 includes:
s601: under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and does not intersect with the fifth sub-region, the movement direction and the movement speed of the obstacle are obtained;
s602: and generating a third lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
For example, in step S601, the outline region of the obstacle may be located only in the fifth sub-region, or the first half of the outline region of the obstacle may be located in the fifth sub-region.
It can be understood that although the fifth sub-area is farthest from the current position of the vehicle end compared with the other sub-areas, in the case that the moving direction of the obstacle is the same as the driving direction of the vehicle end and the moving speed of the obstacle is greater than the driving speed of the vehicle end, the vehicle end may still collide with the obstacle during the lane changing process, so that the driver needs to be warned during the lane changing process.
For example, in step S602, the warning degree of the third lane change warning indication may be smaller than that of the second lane change warning indication in the foregoing embodiment, so as to appropriately remind the driver of the remote control end to be careful in driving during the lane change.
Through the implementation mode, under the condition that the obstacle exists in the fifth sub-area and the moving direction and the moving speed of the obstacle meet certain conditions, a third lane changing early warning indication is generated, and a driver at a remote control end is reminded to drive cautiously in the lane changing process.
In one embodiment, the lane change early warning indication comprises a first lane change early warning indication, a second lane change early warning indication and a third lane change early warning indication, wherein the first lane change early warning indication is used for generating a steering wheel control instruction, and the steering wheel control instruction is used for controlling the steering wheel to prohibit steering; the second lane change early warning indication is used for controlling the alarm device to give out alarm sound; and the third lane change early warning indication is used for controlling the starting of the indicator lamp.
It can be understood that the first sub-area, the second sub-area and the third sub-area are closer to the current position of the vehicle end than the other sub-areas, and therefore under the condition that the first sub-area, the second sub-area and the third sub-area monitor the existence of the obstacle, the generated first lane change early warning indication has a higher early warning degree, and can directly intervene in the lane change operation of the driver, and the vehicle end is prohibited from changing lanes under the current condition, so that the vehicle end is prevented from colliding with the obstacle.
The distance between the fourth sub-area and the current position of the vehicle end is closer than that between the fourth sub-area and the current position of the vehicle end, so that the early warning degree indicated by the second lane changing early warning can be higher than that indicated by the third lane changing early warning. For example, the second lane change warning indication may control the warning device to sound a warning sound and control the indicator light to be activated at the same time, and the third lane change warning indication may control only the indicator light to be activated, so as to provide warning prompts of different degrees to the driver.
In a specific example, as shown in fig. 7, for the intersection of the outline area of the obstacle with the first sub-area B and the second sub-area a, a default alarm strategy is adopted, and a first lane change early warning instruction is generated, where an alarm level of the first lane change early warning instruction is P0, and a steering wheel control instruction may be specifically generated, where the steering wheel control instruction is used to control a steering wheel to prohibit steering. Aiming at the situation that the contour area of the obstacle does not have an intersection with the first sub-area B and the second sub-area A and has an intersection with the third sub-area C, under the condition that the movement direction of the obstacle is the same as the driving direction of the vehicle end and the movement speed V2 of the obstacle is greater than 0, the default alarm strategy is also adopted, and a first lane change early warning instruction is generated.
And generating a second lane change early warning instruction under the conditions that the movement direction of the obstacle is the same as the driving direction of the vehicle end and the movement speed V2 of the obstacle is greater than the driving speed V1 of the vehicle end, and the warning grade of the second lane change early warning instruction is P1. The second lane change warning indication can be specifically used for controlling the warning device to give out warning sound so as to remind a driver at a remote driving end.
And generating a third lane change early warning instruction under the conditions that the movement direction of the obstacle is the same as the driving direction of the vehicle end and the movement speed V2 of the obstacle is greater than the driving speed V1 of the vehicle end, and the warning grade of the third lane change early warning instruction is P3. The second lane change early warning indication can be specifically used for controlling the starting of an indicator light so as to remind a driver at a remote driving end.
Through the embodiment, the generated first lane change early warning indication, the second lane change early warning indication and the third lane change early warning indication are different in degree according to different distribution conditions of the obstacles in different sub-areas, so that lane change early warning indications of different degrees can be provided pertinently, the early warning effect on a driver is improved, and the driving safety of remote control is further improved.
According to the embodiment of the disclosure, the disclosure further provides a vehicle lane change early warning device under the remote control scene.
As shown in fig. 8, the lane change warning apparatus for a vehicle includes:
an information receiving module 801, configured to receive road monitoring information, where the road monitoring information includes obstacle information on a target lane adjacent to a driving lane of a vehicle end;
a monitoring region determining module 802, configured to determine a monitoring region of the target lane based on current position information of the vehicle end;
and a lane change early warning indication generating module 803, configured to determine, based on the obstacle information and the monitored area of the target lane, a distribution situation of the obstacles in the monitored area, and generate a lane change early warning indication according to the distribution situation.
In one embodiment, the monitoring region comprises a plurality of sub-regions; the monitoring region determination module 802 includes:
the first determining submodule is used for determining a first sub-area parallel to the current position of the vehicle end in the target lane based on the current position information of the vehicle end;
and the second determining submodule is used for determining a second sub-area adjacent to the front side of the first sub-area based on the first sub-area, and determining a third sub-area, a fourth sub-area and a fifth sub-area which are positioned at the rear side of the first sub-area and are sequentially adjacent to each other.
In one embodiment, the lane change warning indication generating module 803 includes:
the contour region determining submodule is used for determining a contour region of the obstacle according to the obstacle information;
and the division condition determining submodule is used for determining the distribution condition of the obstacles in the plurality of sub-areas according to the outline area of the obstacles.
In one embodiment, the lane change warning indication comprises a first lane change warning indication; the lane change warning indication generation module 803 is further configured to:
and generating a first lane change early warning indication under the condition that the intersection exists between the outline area of the obstacle and the first sub-area or the second sub-area.
In one embodiment, the lane change warning indication comprises a first lane change warning indication; the lane change warning indication generation module 803 is further configured to:
under the condition that the contour area of the obstacle does not intersect with the first sub-area and the second sub-area, and does not intersect with the third sub-area, the movement direction and the movement speed of the obstacle are obtained;
and generating a first lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the movement speed of the obstacle is greater than 0.
In one embodiment, the lane change warning indication comprises a second lane change warning indication; the lane change warning indication generation module 803 is further configured to:
under the condition that the contour area of the obstacle does not intersect with any of the first subregion, the second subregion and the third subregion, and does not intersect with the fourth subregion, the movement direction and the movement speed of the obstacle are acquired;
and generating a second lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
In one embodiment, the lane change warning indication comprises a third lane change warning indication; the lane change warning indication generation module 803 is further configured to:
under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and does not intersect with the fifth sub-region, the movement direction and the movement speed of the obstacle are obtained;
and generating a third lane change early warning instruction under the condition that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
In one embodiment, the lane change early warning indication comprises a first lane change early warning indication, a second lane change early warning indication and a third lane change early warning indication, wherein the first lane change early warning indication is used for generating a steering wheel control instruction, and the steering wheel control instruction is used for controlling the steering wheel to prohibit steering; the second lane change early warning indication is used for controlling the alarm device to give out alarm sound; and the third lane change early warning indication is used for controlling the starting of the indicator lamp.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the vehicle lane change warning method. For example, in some embodiments, the vehicle lane change warning method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into RAM903 and executed by computing unit 901, one or more steps of the vehicle lane-change warning method described above may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured to perform the vehicle lane change warning method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (19)
1. A vehicle lane change early warning method under a remote control scene comprises the following steps:
receiving road monitoring information, wherein the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of a vehicle end;
determining a monitoring area of the target lane based on the current position information of the vehicle end;
and determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating a lane change early warning instruction according to the distribution condition.
2. The method of claim 1, wherein the monitoring region comprises a plurality of sub-regions;
determining a monitoring area of the target lane based on the current position information of the vehicle end, including:
determining a first sub-area parallel to the current position of the vehicle end in the target lane based on the current position information of the vehicle end;
on the basis of the first sub-area, a second sub-area adjacent to the front side of the first sub-area is determined, and a third sub-area, a fourth sub-area and a fifth sub-area which are located on the rear side of the first sub-area and are adjacent in sequence are determined.
3. The method of claim 2, wherein determining a distribution of obstacles in a monitored area based on the obstacle information and the monitored area of the target lane comprises:
determining a contour area of the obstacle according to the obstacle information;
and determining the distribution condition of the obstacles in a plurality of sub-areas according to the outline area of the obstacles.
4. The method of claim 3, wherein the lane-change warning indication comprises a first lane-change warning indication;
generating a lane change early warning instruction according to the distribution condition, comprising:
and generating a first lane change early warning indication under the condition that the contour region of the obstacle intersects with the first sub-region or the second sub-region.
5. The method of claim 3, wherein the lane-change warning indication comprises a first lane-change warning indication;
generating a lane change early warning instruction according to the distribution condition, comprising:
under the condition that the contour region of the obstacle does not intersect with the first sub-region and the second sub-region and does not intersect with the third sub-region, the movement direction and the movement speed of the obstacle are obtained;
and generating a first lane change early warning indication under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the movement speed of the obstacle is greater than 0.
6. The method of claim 3, wherein the lane-change warning indication comprises a second lane-change warning indication;
generating a lane change early warning instruction according to the distribution condition, comprising:
under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region and the third sub-region and does not intersect with the fourth sub-region, acquiring the movement direction and the movement speed of the obstacle;
and generating a second lane change early warning instruction under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
7. The method of claim 3, wherein the lane-change warning indication comprises a third lane-change warning indication;
generating a lane change early warning instruction according to the distribution condition, comprising:
under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and does not intersect with the fifth sub-region, acquiring the motion direction and the motion speed of the obstacle;
and generating a third lane change early warning instruction under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
8. The method of claim 1, wherein the lane change warning indication comprises a first lane change warning indication, a second lane change warning indication and a third lane change warning indication, wherein the first lane change warning indication is used for generating a steering wheel control instruction, and the steering wheel control instruction is used for controlling a steering wheel to prohibit steering; the second lane change early warning indication is used for controlling an alarm device to give out alarm sound; and the third lane change early warning indication is used for controlling the starting of the indicator light.
9. A vehicle lane change early warning device under a remote control scene comprises:
the information receiving module is used for receiving road monitoring information, and the road monitoring information comprises obstacle information on a target lane adjacent to a driving lane of the vehicle end;
the monitoring area determining module is used for determining the monitoring area of the target lane based on the current position information of the vehicle end;
and the lane change early warning indication generation module is used for determining the distribution condition of the obstacles in the monitoring area based on the obstacle information and the monitoring area of the target lane and generating a lane change early warning indication according to the distribution condition.
10. The apparatus of claim 9, wherein the monitoring region comprises a plurality of sub-regions; the monitoring region determination module includes:
the first determining submodule is used for determining a first sub-area parallel to the current position of the vehicle end in the target lane based on the current position information of the vehicle end;
the second determining submodule is used for determining a second sub-area adjacent to the front side of the first sub-area based on the first sub-area, and determining a third sub-area, a fourth sub-area and a fifth sub-area which are positioned on the rear side of the first sub-area and are sequentially adjacent to each other.
11. The apparatus of claim 10, wherein the lane change warning indication generating module comprises:
the contour region determining submodule is used for determining a contour region of the obstacle according to the obstacle information;
and the division condition determining submodule is used for determining the distribution condition of the obstacles in the plurality of sub-areas according to the outline area of the obstacles.
12. The apparatus of claim 11, wherein the lane-change warning indication comprises a first lane-change warning indication; the lane change early warning indication generation module is further used for:
and generating a first lane change early warning indication under the condition that the contour region of the obstacle intersects with the first sub-region or the second sub-region.
13. The apparatus of claim 11, wherein the lane-change warning indication comprises a first lane-change warning indication; the lane change early warning indication generation module is further used for:
under the condition that the contour region of the obstacle does not intersect with the first sub-region and the second sub-region and does not intersect with the third sub-region, the movement direction and the movement speed of the obstacle are obtained;
and generating a first lane change early warning indication under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the movement speed of the obstacle is greater than 0.
14. The apparatus of claim 11, wherein the lane-change warning indication comprises a second lane-change warning indication; the lane change early warning indication generation module is further used for:
under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region and the third sub-region and does not intersect with the fourth sub-region, acquiring the movement direction and the movement speed of the obstacle;
and generating a second lane change early warning instruction under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
15. The apparatus of claim 11, wherein the lane-change warning indication comprises a third lane-change warning indication; the lane change early warning indication generation module is further used for:
under the condition that the contour region of the obstacle does not intersect with any of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and does not intersect with the fifth sub-region, acquiring the motion direction and the motion speed of the obstacle;
and generating a third lane change early warning instruction under the conditions that the driving direction of the vehicle end is the same as the movement direction of the obstacle and the driving speed of the vehicle end is less than the movement speed of the obstacle.
16. The device of claim 9, wherein the lane change warning indication comprises a first lane change warning indication, a second lane change warning indication and a third lane change warning indication, the first lane change warning indication is used for generating a steering wheel control instruction, and the steering wheel control instruction is used for controlling a steering wheel to prohibit steering; the second lane change early warning indication is used for controlling an alarm device to give out alarm sound; and the third lane change early warning indication is used for controlling the starting of the indicator light.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1 to 8.
19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.
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