CN114170846B - 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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- CN114170846B CN114170846B CN202111600774.4A CN202111600774A CN114170846B CN 114170846 B CN114170846 B CN 114170846B CN 202111600774 A CN202111600774 A CN 202111600774A CN 114170846 B CN114170846 B CN 114170846B
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- 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, device, equipment and storage medium, relates to the technical field of automatic driving, and particularly relates to the field of remote control. The specific implementation scheme is as follows: receiving road monitoring information, wherein the road monitoring information comprises barrier information on a target lane adjacent to a driving lane at 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 obstacle in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating lane change early warning instructions according to the distribution condition. According to the technology disclosed by the invention, the monitoring and early warning functions for the lane changing 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 and equipment and a storage medium.
Background
In the remote control system, a driver sitting in a remote cockpit may have insufficient rear side observation when the driver is not in the scene or carelessly in the lane change, may also have collision risk when the driver changes lanes due to insufficient rear side vehicle observation during heavy fog or night driving, or may have blind areas for the driver to carefully change lanes due to the problem of vehicle camera view angle.
Disclosure of Invention
The disclosure provides a vehicle lane change early warning method, device, equipment and storage medium.
According to an aspect of the present disclosure, there is provided a vehicle lane change early warning method in a remote control scenario, including:
receiving road monitoring information, wherein the road monitoring information comprises barrier information on a target lane adjacent to a driving lane at 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 obstacle in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating lane change early warning instructions according to the distribution condition.
According to another aspect of the present disclosure, there is provided a lane-changing pre-warning device for a vehicle in a remote control scenario, including:
the information receiving module is used for receiving road monitoring information, wherein the road monitoring information comprises barrier information on a target lane adjacent to a driving lane at a vehicle end;
the monitoring area determining module is used for determining a monitoring area of the target lane based on the current position information of the vehicle end;
the lane change early warning indication generation module is used for determining the distribution condition of the obstacle in the monitoring area based on the obstacle information and the monitoring area of the target lane and generating 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 liquid crystal display device comprises a liquid crystal display device,
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 the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product 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 obstacle in the monitoring area, so that the lane change early warning is carried out on the driver of the remote control end, the probability of causing safety accidents in the lane change process due to factors such as severe weather, negligence of the driver or blind areas of the rearview mirror is reduced, and the driving safety in a remote control scene is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 illustrates a flow chart of a vehicle lane change warning method in a remote control scenario according to an embodiment of the present disclosure;
FIG. 2 illustrates a particular flow chart of a method of determining a plurality of sub-regions according to an embodiment of the present disclosure;
FIG. 3 illustrates a particular flow chart of a method of determining a distribution of obstacles in a plurality of sub-areas, in accordance with an embodiment of the present disclosure;
FIG. 4 illustrates a particular flow diagram of generating a first lane change early warning indication according to a method of an embodiment of the present disclosure;
FIG. 5 illustrates a particular flow diagram of generating a second lane change early warning indication according to a method of an embodiment of the present disclosure;
FIG. 6 illustrates a particular flow diagram of generating a third lane change early warning indication according to a method of an embodiment of the present disclosure;
FIG. 7 illustrates an example diagram of an application of a method according to an embodiment of the present disclosure;
FIG. 8 illustrates 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 lane-change warning method for a vehicle according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one 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, a vehicle lane change early warning method in a remote control scenario according to an embodiment of the disclosure includes the following steps:
s101: receiving road monitoring information, wherein the road monitoring information comprises barrier information on a target lane adjacent to a driving lane at 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 obstacle in the monitoring area based on the obstacle information and the monitoring area of the target lane, and generating lane change early warning instructions according to the distribution condition.
The lane change early warning method for the vehicle 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 of the embodiment of the disclosure so as to realize real-time lane change early warning in the process of remotely controlling the vehicle end.
Illustratively, in step S101, the remote control system is in network communication with the vehicle end, and the remote control system may receive the road monitoring information from the vehicle end once every predetermined time period. For example, the road monitoring information may be received every 0.1 seconds to continuously monitor the road environment in which the vehicle end is traveling.
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 includes at least obstacle information including 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 to be understood that the target lane refers to a lane adjacent to a lane in which the vehicle end is currently traveling, for example, the target lane may be a left lane or a right lane of the lane in which the vehicle end is currently traveling.
Illustratively, in step S102, a monitoring area corresponding to the current position information of the vehicle end is determined within the area of the target lane based on the current position information of the vehicle end. The monitoring area can be set by referring to a running track which the vehicle end passes through from a lane where the vehicle end is currently located to a target lane.
For example, the monitoring area may be formed by referring to an area parallel to the current position of the vehicle end in the target lane, and a front area and a rear area located in the area in combination.
Illustratively, in step S103, the monitoring area may include a plurality of sub-areas, and the plurality of sub-areas may be divided according to distances from the current location of the vehicle end in the monitoring area. It can be understood that the distance between the obstacle and the current position of the vehicle end directly influences the risk degree in the lane changing process of the vehicle end, namely, the smaller the distance between the obstacle and the vehicle end is, the larger the threat generated during lane changing of the vehicle end is, the larger the distance between the obstacle and the vehicle end is, and the smaller the threat generated during lane changing of the vehicle end is. Based on the method, different lane change early warning instructions can be generated according to the distribution condition of the barriers in different subareas, so that early warning of different degrees can be performed according to the threat degrees formed by the barriers.
The lane change early warning indication can give out an alarm sound through controlling the alarm device, or control the indicator lamp to flash, or directly lock the steering wheel so as to avoid the way that the vehicle end turns to lane change, and prompt the driver that the lane change is at risk currently.
According to the vehicle lane change early warning method in the remote control scene, road monitoring information is received from a vehicle end, a monitoring area is determined in a target lane based on the current position information of the vehicle end, and lane change early warning instructions are generated according to the distribution condition of 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 lane changing early warning instructions are generated according to the distribution condition of the obstacles in the monitoring area, so that lane changing early warning is performed on a driver of the remote control end, the probability of causing safety accidents in the lane changing process due to factors such as severe weather, negligence of the driver or blind areas of the rearview mirror is reduced, and the driving safety in a remote control scene is improved.
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; the method comprises the steps of,
s202: based on 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 positioned at the rear side of the first sub-area and are sequentially adjacent to each other are determined.
The plurality of sub-areas may be divided according to a relative positional relationship between positions of the vehicle end in the target lane and the current driving lane, and lengths and widths of the sub-areas may be specifically set according to a vehicle body length and a vehicle body width of the vehicle end.
In a specific example, as shown in fig. 7, taking an example that the target lane is located at the left side of the current driving lane of the vehicle end, 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-region B in the target lane corresponds to the position of the vehicle end in the current travel lane in the horizontal direction, the length of the first sub-region B may be equal to the vehicle body length, and the width of the first sub-region B may be equal to 2 times the vehicle body width; the second subarea A is adjacent to the front edge of the first subarea, the length of the second subarea A can be equal to 0.5 times of the length of the vehicle body, and the width of the second subarea A is equal to 2 times of the width of the vehicle body; the third subregion C, the fourth subregion D and the fifth subregion E are positioned at the rear side of the first subregion B, the third subregion C, the fourth subregion D and the fifth subregion E are sequentially adjacent in the front-rear direction, wherein the front side edge of the third subregion C is adjacent to the rear side edge of the first subregion B, the lengths of the third subregion C, the fourth subregion D and the fifth subregion E are equal to the length of the vehicle body, and the widths of the third subregion C, the fourth subregion D and the fifth subregion E are equal to 2 times of the width of the vehicle body.
It will be appreciated that, first, the first sub-area B and the second sub-area a are closer to the vehicle end, and the vehicle end must pass 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 of obstacle monitoring in the first sub-area B and the second sub-area a is highest. Secondly, the third subarea C is adjacent to the first subarea B, and under the condition that the speed and the movement direction of the obstacle in the third subarea C meet certain conditions, threat is formed in the process of changing the lane of the vehicle end to the target lane, so that the priority of obstacle monitoring of the third subarea C is second. Finally, the distance between the fifth subregion E and the third subregion C is greater than the distance between the fourth subregion D and the third subregion C, so that the obstacle in the fifth subregion E has a greater interference effect on the lane change process at the vehicle end than the obstacle in the fourth subregion D, and therefore the obstacle monitoring of the fourth subregion D has a higher priority than the obstacle monitoring of the fifth subregion E.
Therefore, the monitoring area is divided into the plurality of subareas, and the interference degrees of the obstacles in the plurality of subareas on the lane changing process of the vehicle end are different, so that corresponding alarm indication strategies can be formulated for the detection results of the different subareas by respectively carrying out obstacle detection on the different subareas, and accordingly different degrees of early warning can be provided for drivers of the remote control end according to 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 obstacle in a plurality of subareas according to the outline area of the obstacle.
Illustratively, in step S301, the obstacle information specifically includes a plurality of vertex information of the obstacle, and the plurality of vertices may be connected one by one through the 3D model to generate a series of faces, and finally three-dimensional modeling of the obstacle is completed, and a contour region of the obstacle is obtained.
The image sensor and/or the laser radar sensor arranged on the vehicle end collect sensing data of road conditions around the vehicle, and the obstacle information can be obtained by correspondingly processing the sensing data.
Illustratively, in step S302, the distribution of the obstacle in the plurality of sub-areas may be specifically an overlapping condition of the outline area of the obstacle and each sub-area.
According to the embodiment, the outline area of the obstacle is obtained and compared with each sub-area, and according to the distribution condition of the outline area of the obstacle in each sub-area, the position information of the obstacle can be evaluated, so that the threat degree of the obstacle on lane change of a vehicle end is judged, and a corresponding lane change early warning indication is generated.
In one embodiment, the lane change early warning indication includes a first lane change early warning indication, and step S103 includes:
and generating a first lane change early warning indication under the condition that the outline area of the obstacle is intersected with the first subarea or the second subarea.
For example, the intersection of the contour region of the obstacle with the first sub-region or the second sub-region may be understood as at least part of the contour region of the obstacle being located within the first sub-region or the second sub-region.
For example, the contour region of the obstacle may be located only in the first sub-region or partially in the first sub-region. For another example, the contour region of the obstacle may be located only in the second sub-region or partially in the second sub-region. As another example, a portion of the outline area of the obstacle may be located within the first sub-area and another portion located within the second sub-area.
It should be noted that, since the travel track of the vehicle end from the current travel lane to the target lane necessarily passes through the first sub-area and the second sub-area, when there is an intersection between at least part of the outline area of the obstacle and the first sub-area or the second sub-area, the vehicle end inevitably collides with the obstacle during the course of lane change from the vehicle end to the target lane, and therefore, the first lane change warning indication needs to be generated in this case.
By the embodiment, under the condition that the first subarea or the second subarea is monitored to have the obstacle, the first lane change early warning indication can be generated, a driver at the remote control end is timely reminded of the risk of lane change 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: acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with the first subarea and the second subarea and has intersection with the third subarea;
s402: and under the condition that the running 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, generating a first lane change early warning instruction.
Illustratively, in step S401, the contour region of the obstacle does not intersect with both the first sub-region and the second sub-region and with the third sub-region, and it may be that the contour region of the obstacle is located only in the third sub-region or that the first half of the contour region of the obstacle is located in the third sub-region.
The obstacle information comprises the movement direction and movement speed of the obstacle, and the movement direction and movement speed of the obstacle can be obtained by corresponding data processing of sensing data acquired by a laser radar sensor arranged at the vehicle end.
It is understood that in the case where the traveling 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, there is a greater possibility that the vehicle end collides with the obstacle in the process of changing the lane from the current traveling lane to the target lane, so that there is a greater risk of changing the lane in the current case.
The first lane change early warning indication generated in step S402 may be the same or similar to the first lane change early warning indication generated in the foregoing embodiment. For example, the steering wheel is controlled to prohibit rotation, or the alarm device is controlled to give an alarm, or the lane change warning indicator lamp is controlled to flash, etc.
According to the embodiment, under the condition that the obstacle exists in the third subarea and the movement direction and movement speed of the obstacle meet certain conditions, the first lane change early warning indication is generated, a driver at the remote control end is timely 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 one embodiment, the lane change early warning indication includes a second lane change early warning indication, and step S103 includes:
s501: acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with any one of the first subarea, the second subarea and the third subarea and has intersection with the fourth subarea;
S502: and generating a second lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
Illustratively, in step S501, the contour area of the obstacle may be located only within the fourth sub-area, or the first half of the contour area of the obstacle is located within the fourth sub-area.
It can be understood that, since the fourth sub-area is located at a certain distance from the current position of the vehicle end, when the movement direction of the obstacle is the same as the driving direction of the vehicle end and the movement 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 a certain safety risk exists.
In step S402, the early warning level of the second lane change early warning indication may be smaller than that of the first lane change early warning indication in the foregoing embodiment, so as to appropriately alert the driver at the remote control end to cautiously drive during the lane change.
Through the embodiment, under the condition that the obstacle exists in the fourth subarea and the movement direction and the movement speed of the obstacle meet certain conditions, the second lane change early warning indication is generated, and a driver at the remote control end is timely reminded of cautious driving in the lane change process.
As shown in fig. 6, in one embodiment, the lane change early warning indication includes a third lane change early warning indication, and step S103 includes:
s601: acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with any one of the first sub-area, the second sub-area, the third sub-area and the fourth sub-area and has intersection with the fifth sub-area;
s602: and generating a third lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
Illustratively, in step S601, the contour area of the obstacle may be located only within the fifth sub-area, or the first half of the contour area of the obstacle is located within the fifth sub-area.
It is understood that although the fifth sub-area is farthest from the current position of the vehicle end than the other sub-areas, in the case where the movement direction of the obstacle is the same as the traveling direction of the vehicle end and the movement speed of the obstacle is greater than the traveling speed of the vehicle end, the vehicle end may collide with the obstacle during lane change, and thus the driver needs to be warned during lane change.
In step S602, the pre-warning level of the third lane change pre-warning indication may be smaller than that of the second lane change pre-warning indication in the foregoing embodiment, so as to appropriately alert the driver at the remote control end to cautiously drive during the lane change.
Through the embodiment, under the condition that the obstacle exists in the fifth subarea and the movement direction and the movement speed of the obstacle meet certain conditions, a third lane change early warning indication is generated, and a driver at a remote control end is timely reminded of cautious driving in the lane change process.
In one embodiment, the lane change early warning indication includes a first lane change early warning indication, a second lane change early warning indication and a third lane change early warning indication, 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 send out alarm sound; and the third lane change early warning indication is used for controlling the start 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, so that the early warning degree of the generated first lane change early warning indication is higher when the first sub-area, the second sub-area and the third sub-area monitor that the obstacle exists, lane change operation of a driver can be directly interfered, lane change of the vehicle end under the current condition is forbidden, and collision between the vehicle end and the obstacle is avoided.
The distance between the fourth sub-area and the current position of the vehicle end is closer than that of the fifth sub-area, so that the early warning degree of the second lane change early warning indication can be higher than that of the third lane change early warning indication. For example, the second lane change early warning indication may control the alarm device to sound an alarm and control the indicator lamp to start at the same time, and the third lane change early warning indication may only control the indicator lamp to start so as to provide early warning prompts of different degrees to the driver.
In a specific example, as shown in fig. 7, for the intersection of the contour 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 indication is generated, where the alarm level of the first lane change early warning indication is P0, specifically, a steering wheel control instruction may be generated, and the steering wheel control instruction is used for controlling the steering wheel to prohibit steering. Aiming at the situation that the contour area of the obstacle does not have an intersection with the first subarea B and the second subarea A and has an intersection with the third subarea C, and the moving direction of the obstacle is the same as the running direction of the vehicle end and the moving speed V2 of the obstacle is greater than 0, an alarm strategy of default alarm is adopted, and a first lane change early warning indication is generated.
Aiming at the situation that the contour area of the obstacle is not intersected with the first subarea B, the second subarea A and the third subarea C and is intersected with the fourth subarea D, and the moving direction of the obstacle is the same as the running direction of the vehicle end and the moving speed V2 of the obstacle is greater than the running speed V1 of the vehicle end, a second lane change early warning indication is generated, and the warning level of the second lane change early warning indication is P1. The second lane change early warning indication can be specifically used for controlling the alarm device to send out alarm sound so as to remind a driver at the remote driving end.
Aiming at the situation that the contour area of the obstacle is not intersected with the first subarea B, the second subarea A, the third subarea C and the fourth subarea D and is intersected with the fifth subarea E, and the movement direction of the obstacle is the same as the running direction of the vehicle end and the movement speed V2 of the obstacle is greater than the running speed V1 of the vehicle end, a third lane change early warning indication is generated, and the warning level of the third lane change early warning indication is P3. The second lane change early warning indication can be specifically used for controlling the start of the indicator lamp so as to remind a driver at the remote driving end.
According to the embodiment, according to the different distribution conditions of the obstacles in different subareas, the degrees of 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, so that lane change early warning indications with 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 in a remote control scene.
As shown in fig. 8, the lane change warning device for a vehicle includes:
an information receiving module 801 for receiving road monitoring information including obstacle information on a target lane adjacent to a driving lane of a vehicle end;
a monitoring area determining module 802, configured to determine a monitoring area of the target lane based on current location information of the vehicle end;
the lane change early warning indication generating module 803 is configured to determine a distribution situation of the obstacle in the monitored area based on the obstacle information and the monitored area of the target lane, and generate a lane change early warning indication according to the distribution situation.
In one embodiment, the monitoring area comprises a plurality of sub-areas; the monitoring area determination module 802 includes:
the first determining submodule is used for determining a first subarea 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 sub-module 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.
In one embodiment, the lane change early warning indication generation module 803 includes:
the contour region determining submodule is used for determining the contour region of the obstacle according to the obstacle information;
the subsection condition determining submodule is used for determining the distribution condition of the obstacle in a plurality of subareas according to the outline area of the obstacle.
In one embodiment, the lane change pre-warning indication comprises a first lane change pre-warning indication; the lane change early warning indication generating module 803 is further configured to:
and generating a first lane change early warning indication under the condition that the outline area of the obstacle is intersected with the first subarea or the second subarea.
In one embodiment, the lane change pre-warning indication comprises a first lane change pre-warning indication; the lane change early warning indication generating module 803 is further configured to:
acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with the first subarea and the second subarea and has intersection with the third subarea;
and under the condition that the running 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, generating a first lane change early warning instruction.
In one embodiment, the lane change pre-warning indication comprises a second lane change pre-warning indication; the lane change early warning indication generating module 803 is further configured to:
Acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with any one of the first subarea, the second subarea and the third subarea and has intersection with the fourth subarea;
and generating a second lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
In one embodiment, the lane change pre-warning indication comprises a third lane change pre-warning indication; the lane change early warning indication generating module 803 is further configured to:
acquiring the movement direction and movement speed of the obstacle under the condition that the contour area of the obstacle has no intersection with any one of the first sub-area, the second sub-area, the third sub-area and the fourth sub-area and has intersection with the fifth sub-area;
and generating a third lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
In one embodiment, the lane change early warning indication includes a first lane change early warning indication, a second lane change early warning indication and a third lane change early warning indication, 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 send out alarm sound; and the third lane change early warning indication is used for controlling the start of the indicator lamp.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
Fig. 9 shows a schematic block diagram of an example electronic device 900 that may 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 telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary 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 that can perform various appropriate actions and processes according to 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 computing unit 901, the ROM 902, and the RAM903 are connected to each other by a bus 904. An input/output (I/O) interface 905 is also connected to the bus 904.
Various components in device 900 are connected to I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, or 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, an optical disk, or the like; and a communication unit 909 such as a network card, modem, wireless communication transceiver, or 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 telecommunications 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 computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 performs the respective methods and processes described above, such as a 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 on a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 900 via the ROM 902 and/or the communication unit 909. When the computer program is loaded into the RAM 903 and executed by the 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 circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 pointing device (e.g., a mouse or 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 may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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 a client and a server. The client and server are typically 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 incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (14)
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 barrier information on a target lane adjacent to a driving lane at a vehicle end;
determining a monitoring area of the target lane based on the current position information of the vehicle end, wherein the monitoring area comprises a plurality of sub-areas;
determining a contour area of the obstacle according to the obstacle information;
Determining the distribution condition of the obstacle in a plurality of sub-areas according to the outline area of the obstacle; the distribution condition is the overlapping condition of the outline area of the obstacle and each sub-area, and different lane change early warning instructions are generated according to the distribution condition; the lane change early warning indication is used for controlling an alarm device, an indicator light or a steering wheel to work so as to early warn a driver of a vehicle remote control system;
the determining the monitoring area of the target lane based on the current position information of the vehicle end includes:
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;
determining a second sub-region adjacent to the front side of the first sub-region based on the first sub-region, and determining a third sub-region, a fourth sub-region and a fifth sub-region which are positioned at the rear side of the first sub-region and are sequentially adjacent to each other;
the overlapping condition of the outline area of the obstacle and each sub-area comprises the following steps: a situation in which the contour region of the obstacle intersects with the first or second subregion;
A case where the outline area of the obstacle does not intersect with both the first sub-area and the second sub-area, and does intersect with the third sub-area;
a case where an intersection does not exist between a contour region of the obstacle and any of the first, second, and third sub-regions, and an intersection exists between the contour region of the obstacle and the fourth sub-region;
and 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 intersects with the fifth sub-region.
2. The method of claim 1, wherein the lane change pre-warning indication comprises a first lane change pre-warning indication;
generating lane change early warning instructions according to the distribution condition, including:
and generating a first lane change early warning indication under the condition that the outline area of the obstacle is intersected with the first subarea or the second subarea.
3. The method of claim 1, wherein the lane change pre-warning indication comprises a first lane change pre-warning indication;
generating lane change early warning instructions according to the distribution condition, including:
Acquiring a movement direction and a movement speed of the obstacle under the condition that the outline area of the obstacle has no intersection with the first subarea and the second subarea and has intersection with the third subarea;
and under the condition that the running 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, generating a first lane change early warning instruction.
4. The method of claim 1, wherein the lane change pre-warning indication comprises a second lane change pre-warning indication;
generating lane change early warning instructions according to the distribution condition, including:
acquiring a movement direction and a movement speed of the obstacle when the contour region of the obstacle has no intersection with any one of the first sub-region, the second sub-region and the third sub-region and the fourth sub-region;
and generating a second lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
5. The method of claim 1, wherein the lane change pre-warning indication comprises a third lane change pre-warning indication;
Generating lane change early warning instructions according to the distribution condition, including:
acquiring a movement direction and a movement speed of the obstacle when the contour region of the obstacle has no intersection with any one of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and the fifth sub-region;
and generating a third lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
6. The method of claim 1, wherein the lane-change pre-warning indication comprises a first lane-change pre-warning indication, a second lane-change pre-warning indication, and a third lane-change pre-warning indication, the first lane-change pre-warning indication being used to generate steering wheel control instructions for controlling a steering wheel to inhibit steering; the second lane change early warning indication is used for controlling the alarm device to send out alarm sound; and the third lane change early warning indication is used for controlling the start of the indicator lamp.
7. A vehicle lane change early warning device under a remote control scene, comprising:
the information receiving module is used for receiving road monitoring information, wherein the road monitoring information comprises barrier information on a target lane adjacent to a driving lane at a 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; the monitoring area comprises a plurality of sub-areas;
the lane change early warning indication generation module is used for determining the distribution condition of the obstacle in the monitoring area based on the obstacle information and the monitoring area of the target lane and generating lane change early warning indication according to the distribution condition; the lane change early warning indication is used for controlling an alarm device, an indicator light or a steering wheel to work so as to early warn a driver of a vehicle remote control system;
the lane change early warning indication generation module is further used for:
determining a contour area of the obstacle according to the obstacle information;
determining the distribution condition of the obstacle in a plurality of sub-areas according to the outline area of the obstacle; the distribution condition is the overlapping condition of the outline area of the obstacle and each subarea;
the monitoring area determination module includes:
a first determining sub-module, configured to determine a first sub-area parallel to a current position of the vehicle end in the target lane based on the current position information of the vehicle end;
A second determining sub-module for determining, based on the first sub-area, a second sub-area adjacent to a front side of the first sub-area, and determining a third sub-area, a fourth sub-area, and a fifth sub-area located at a rear side of the first sub-area and sequentially adjacent to each other;
the overlapping condition of the outline area of the obstacle and each sub-area comprises the following steps: a situation in which the contour region of the obstacle intersects with the first or second subregion;
a case where the outline area of the obstacle does not intersect with both the first sub-area and the second sub-area, and does intersect with the third sub-area;
a case where an intersection does not exist between a contour region of the obstacle and any of the first, second, and third sub-regions, and an intersection exists between the contour region of the obstacle and the fourth sub-region;
and 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 intersects with the fifth sub-region.
8. The apparatus of claim 7, wherein the lane change pre-warning indication comprises a first lane change pre-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 outline area of the obstacle is intersected with the first subarea or the second subarea.
9. The apparatus of claim 7, wherein the lane change pre-warning indication comprises a first lane change pre-warning indication; the lane change early warning indication generation module is further used for:
acquiring a movement direction and a movement speed of the obstacle under the condition that the outline area of the obstacle has no intersection with the first subarea and the second subarea and has intersection with the third subarea;
and under the condition that the running 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, generating a first lane change early warning instruction.
10. The apparatus of claim 7, wherein the lane change pre-warning indication comprises a second lane change pre-warning indication; the lane change early warning indication generation module is further used for:
acquiring a movement direction and a movement speed of the obstacle when the contour region of the obstacle has no intersection with any one of the first sub-region, the second sub-region and the third sub-region and the fourth sub-region;
And generating a second lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
11. The apparatus of claim 7, wherein the lane change pre-warning indication comprises a third lane change pre-warning indication; the lane change early warning indication generation module is further used for:
acquiring a movement direction and a movement speed of the obstacle when the contour region of the obstacle has no intersection with any one of the first sub-region, the second sub-region, the third sub-region and the fourth sub-region and the fifth sub-region;
and generating a third lane change early warning instruction under the condition that the running direction of the vehicle end is the same as the movement direction of the obstacle and the running speed of the vehicle end is smaller than the movement speed of the obstacle.
12. The apparatus of claim 7, wherein the lane-change pre-warning indication comprises a first lane-change pre-warning indication, a second lane-change pre-warning indication, and a third lane-change pre-warning indication, the first lane-change pre-warning indication to generate a steering wheel control instruction to control a steering wheel to inhibit steering; the second lane change early warning indication is used for controlling the alarm device to send out alarm sound; and the third lane change early warning indication is used for controlling the start of the indicator lamp.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 6.
14. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1 to 6.
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