CN114559942A

CN114559942A - Vehicle lane change early warning method and device and computer readable medium

Info

Publication number: CN114559942A
Application number: CN202210278046.4A
Authority: CN
Inventors: 崔挺
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2022-03-21
Filing date: 2022-03-21
Publication date: 2022-05-31
Anticipated expiration: 2042-03-21
Also published as: WO2023178922A1

Abstract

The invention provides a vehicle lane change early warning method and a vehicle lane change early warning device, wherein the method comprises the following steps: establishing a vehicle coordinate system; setting lane-changing early warning areas based on a vehicle coordinate system and four side boundaries of a self vehicle, and determining the width of a virtual early warning lane; obtaining a self-vehicle track curve according to the driving parameters of the self-vehicle, calculating the transverse distance between the target vehicle and the self-vehicle, and judging whether the target vehicle enters the virtual early warning lane or not based on the transverse distance; if the vehicle enters the lane changing system, calculating a lane changing interval distance, obtaining a virtual lane changing movement change rate, calculating a longitudinal distance between a target vehicle and the vehicle, and obtaining virtual collision time according to a longitudinal relative speed; obtaining a virtual lane change moving distance according to the virtual lane change moving change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane change moving distance and the lane change interval distance; and calculating the accumulated time of the target prediction position in the lane change early warning area, and if the accumulated time exceeds an early warning time threshold value, taking the target vehicle as an effective lane change early warning target.

Description

Vehicle lane change early warning method and device and computer readable medium

Technical Field

The invention mainly relates to the field of vehicle navigation, in particular to a vehicle lane change early warning method, a vehicle lane change early warning device and a computer readable medium.

Background

With the popularization of self-driving vehicles, the influence of the difference of driving habits of different drivers on the whole driving environment is increased, and the grasping degree of different drivers on traffic rules is different, so that some road conditions may appear, for example, rear-end collision of vehicles may be caused in the automobile lane changing process. And the reason that the driver's lane change intention is judged by means of the turn signal in part of lane change early warning systems is greatly limited, for example, the acquisition and processing process of the light signal is influenced by various factors. Therefore, how to improve the accuracy and reliability of the lane change warning of the vehicle is a problem to be dealt with.

Disclosure of Invention

The invention aims to provide a method and a device for early warning of vehicle lane change and a computer readable medium, so as to realize accurate and efficient early warning of vehicle lane change.

In order to solve the technical problem, the invention provides a vehicle lane change early warning method, which comprises the following steps: establishing a vehicle coordinate system xOy based on the four-side boundary and the traveling direction of the self-vehicle, and marking the four-side boundary of the self-vehicle in the vehicle coordinate system; determining that a first lane change early warning area and a second lane change early warning area are respectively arranged on the left side and the right side of the self-vehicle based on the vehicle coordinate system and four side boundaries of the self-vehicle, and correspondingly determining the width of a virtual early warning lane; calculating to obtain a self-vehicle track curve according to the running parameters of the self-vehicle, calculating the transverse distance between the target vehicle and the self-vehicle in the y direction, and judging whether the target vehicle enters the virtual early warning lane or not based on the transverse distance; if the target vehicle is judged to enter the virtual early warning lane, calculating the lane change interval distance of the target vehicle and the self-vehicle track curve, obtaining the virtual lane change movement change rate according to the driving parameter sampling period, calculating the longitudinal distance of the target vehicle and the self-vehicle in the x direction, and obtaining the virtual collision time according to the longitudinal relative speed of the target vehicle and the self-vehicle; obtaining a virtual lane change moving distance according to the virtual lane change moving change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane change moving distance and the lane change interval distance; and calculating the accumulated time of the target prediction position in the first lane change early warning area and/or the second lane change early warning area within a first time length after the self vehicle starts lane change operation, and if the accumulated time exceeds an early warning time threshold, taking the target vehicle as an effective lane change early warning target.

In an embodiment of the present invention, the four side boundaries comprise a left side and a right side boundary; it includes to confirm respectively to set up first lane change early warning region and second lane change early warning region in the car left and right sides of own car based on vehicle coordinate system and the four sides border of own car: and respectively setting a first lane change early warning area and a second lane change early warning area on the left side and the right side of the vehicle based on the positive directions of the origin O, the coordinate axes x and y of the vehicle coordinate system and the left side and the right side boundaries of the vehicle.

In an embodiment of the invention, the driving parameters of the host vehicle include a host vehicle heading angle, a heading curvature change rate, and a relative distance between the target vehicle and the host vehicle.

In an embodiment of the present invention, calculating the own trajectory curve according to the driving parameters of the own vehicle includes fitting the own trajectory curve by a spiral curve equation based on the driving parameters of the own vehicle.

In an embodiment of the present invention, calculating the lane change interval distance between the target vehicle and the own vehicle trajectory curve includes: determining a first vertical intersection point of a point trace of a target vehicle and a reverse extension line of a self-vehicle track curve in the x direction; calculating a first distance between the point trace of the target vehicle and the vertical intersection point; determining a second vertical intersection point of the point trace of the target vehicle and the self-vehicle track curve, and determining a third vertical intersection point of the second vertical intersection point and a reverse extension line of the self-vehicle track curve in the x direction; calculating a second distance in the y-direction between the second vertical intersection and the first vertical intersection and a third distance in the x-direction between the third vertical intersection and the first vertical intersection; and calculating to obtain the lane changing spacing distance between the target vehicle and the self-vehicle track curve according to the first distance, the second distance and the third distance.

In an embodiment of the invention, the method further includes binding the lane change early warning effective target with the virtual early warning lane according to the position of the sensing device detecting the lane change early warning effective target on the vehicle body after determining the lane change early warning effective target.

In an embodiment of the present invention, the virtual early warning lane includes a left virtual early warning lane and a right virtual early warning lane corresponding to the first lane change early warning region and the second lane change early warning region, and further includes a self-vehicle virtual lane between the left virtual early warning lane and the right virtual early warning lane; when the sensing device is positioned on the left side of the vehicle body, the lane-changing early warning effective target is bound with the left virtual early warning lane, when the sensing device is positioned on the right side of the vehicle body, the lane-changing early warning effective target is bound with the right virtual early warning lane, and when the distance between the lane-changing early warning effective target and the left boundary or the right boundary of the vehicle is smaller than the third threshold distance, the lane-changing early warning effective target is bound with the virtual lane of the vehicle.

In an embodiment of the present invention, the method further includes displaying a binding state of the lane change early warning effective target and the virtual early warning lane on a display interface of the vehicle system.

In an embodiment of the present invention, after determining the effective lane change warning target, the lane change warning signal is obtained based on the judgment of the secondary screening condition.

In an embodiment of the present invention, after setting a first lane change early warning region and a second lane change early warning region and correspondingly determining a virtual early warning lane width, obtaining a lane correction factor according to a vehicle speed of a vehicle and a relative distance between a target vehicle and the vehicle in an x direction and/or a y direction, correcting the first lane change early warning region and the second lane change early warning region based on the lane correction factor, and updating the early warning lane width.

In an embodiment of the present invention, the first lane change warning area includes a first sub-area and a second sub-area, and the second lane change warning area includes a third sub-area and a fourth sub-area; wherein, first subregion is in the front side of second subregion along x direction positive direction, the third subregion is in the front side of fourth subregion along x direction positive direction, the width of first subregion is greater than second subregion width, fourth subregion width is greater than third subregion width, x direction positive direction is from the plantago direction.

The invention also provides a vehicle lane change early warning device, which comprises: a memory for storing instructions executable by the processor; and a processor for executing the instructions to implement the method of any preceding claim.

The invention also provides a computer readable medium having stored thereon computer program code which, when executed by a processor, implements a method as in any of the preceding.

Compared with the prior art, the invention has the following advantages: the technical scheme of the application provides a lane-changing early warning dangerous area target division mechanism, effectively screens the side direction lane-changing target, improves the target recognition rate, and reduces the false alarm rate.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the principle of the application. In the drawings:

fig. 1 is a flowchart of a vehicle lane-change warning method according to an embodiment of the present application.

Fig. 2 is a schematic diagram of establishing a vehicle coordinate system based on four side boundaries and a traveling direction of a host vehicle according to an embodiment of the present application.

Fig. 3 is a schematic diagram illustrating lane change warning areas set on the left and right sides of a host vehicle according to the embodiment of the present application and based on the vehicle coordinate system and the four side boundaries of the host vehicle.

Fig. 4 is a schematic diagram of determining lane-change warning areas on the left and right sides of a host vehicle based on the vehicle coordinate system and four side boundaries of the host vehicle according to another embodiment of the present application.

Fig. 5 is a schematic diagram illustrating the component division for determining lane change warning areas on the left and right sides of the host vehicle based on the vehicle coordinate system and the four side boundaries of the host vehicle according to another embodiment of the present application.

Fig. 6 is a schematic diagram of a target vehicle entering a virtual warning lane according to an embodiment of the present application.

Fig. 7 is a schematic diagram of a driving track curve of the host vehicle and a point track of the target vehicle in a vehicle coordinate system according to an embodiment of the present application.

Fig. 8 is a schematic diagram illustrating calculation of lane change interval distance according to an embodiment of the present application.

Fig. 9 is a schematic composition diagram of a vehicle lane change warning device according to an embodiment of the present application.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below. It is obvious that the drawings in the following description are only examples or embodiments of the application, from which the application can also be applied to other similar scenarios without inventive effort for a person skilled in the art. Unless otherwise apparent from the context, or otherwise indicated, like reference numbers in the figures refer to the same structure or operation.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Flow charts are used herein to illustrate operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, various steps may be processed in reverse order or simultaneously. Meanwhile, other operations are added to or removed from these processes.

The embodiment of the application describes a vehicle lane change early warning method, a vehicle lane change early warning device and a computer readable medium.

Referring to fig. 1, the lane-change warning method for the vehicle includes a step 101 of establishing a vehicle coordinate system xOy based on four side boundaries and a traveling direction of the vehicle, and calibrating the four side boundaries of the vehicle in the vehicle coordinate system; 102, determining that a first lane change early warning area and a second lane change early warning area are respectively arranged on the left side and the right side of the self-vehicle based on the vehicle coordinate system and four side boundaries of the self-vehicle, and correspondingly determining the width of a virtual early warning lane; 103, calculating to obtain a self track curve according to the running parameters of the self, calculating the transverse distance between the target vehicle and the self in the y direction, and judging whether the target vehicle enters the virtual early warning lane or not based on the transverse distance; 104, if the target vehicle is judged to enter the virtual early warning lane, calculating a lane change interval distance between the target vehicle and the track curve of the self vehicle, obtaining a virtual lane change movement change rate according to a driving parameter sampling period, calculating a longitudinal distance between the target vehicle and the self vehicle in the x direction, and obtaining virtual collision time according to the longitudinal relative speed of the target vehicle and the self vehicle; 105, obtaining a virtual lane change moving distance according to the virtual lane change moving change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane change moving distance and the lane change interval distance; and 106, calculating the accumulated time of the target prediction position in the first lane change early warning area and/or the second lane change early warning area within a first time length after the vehicle starts lane change operation, and if the accumulated time exceeds an early warning time threshold, taking the target vehicle as an effective lane change early warning target.

Specifically, in step 101, a vehicle coordinate system xOy is established based on the four-side boundary of the host vehicle and the traveling direction, and the four-side boundary of the host vehicle is specified in the vehicle coordinate system.

Fig. 2 is a schematic diagram of establishing a vehicle coordinate system based on four side boundaries and a traveling direction of a host vehicle according to an embodiment of the present application. In fig. 2, for example, the rear axis of the vehicle (the axis corresponding to the vehicle bumper) is defined as the y-axis, and the left side of the vehicle is defined as the positive y-axis direction; the center line of the vehicle is defined as an x-axis, and the direction in which the vehicle travels is defined as a positive direction of the x-axis. The intersection of the x-axis and the y-axis is the origin O of the vehicle coordinate system. The four side boundaries of the own vehicle include a left side boundary S1, a right side boundary S2, a front side boundary S3, and a rear side boundary S4.

In step 102, a first lane change early warning area and a second lane change early warning area are respectively arranged on the left side and the right side of the self-vehicle based on the vehicle coordinate system and the four side boundaries of the self-vehicle, and the width of the virtual early warning lane is correspondingly determined.

In some embodiments, as previously described, the four side boundaries comprise left and right side boundaries; it includes to confirm respectively to set up first lane change early warning region and second lane change early warning region in the car left and right sides of own car based on vehicle coordinate system and the four sides border of own car:

and respectively setting a first lane change early warning area and a second lane change early warning area on the left side and the right side of the vehicle based on the positive directions of the origin O, the coordinate axes x and y of the vehicle coordinate system and the left side and the right side boundaries of the vehicle.

Fig. 3 is a schematic diagram illustrating lane change warning areas set on the left and right sides of a host vehicle according to the embodiment of the present application and based on the vehicle coordinate system and the four side boundaries of the host vehicle. In fig. 3, the lane change warning area includes, for example, a first lane change warning area SL1 located on the left side of the host vehicle and a second lane change warning area SR1 located on the right side of the host vehicle.

In the embodiment shown in fig. 3, the first lane-change warning region SL1 and the second lane-change warning region SR1 are rectangles, and the specific regions thereof can be characterized by coordinates of four endpoints.

Fig. 4 is a schematic diagram illustrating lane-change warning areas set on the left and right sides of a host vehicle according to another embodiment of the present application based on the vehicle coordinate system and four side boundaries of the host vehicle. Fig. 5 is a schematic diagram illustrating the component division for determining lane change warning areas on the left and right sides of the host vehicle based on the vehicle coordinate system and the four side boundaries of the host vehicle according to another embodiment of the present application.

Referring to fig. 4 and 5, the first lane-changing pre-warning region includes a first sub-region and a second sub-region, and the second lane-changing pre-warning region includes a third sub-region and a fourth sub-region;

wherein, first subregion I is in second subregion II is along the front side of x direction positive direction, third subregion III is in fourth subregion IV is along the front side of x direction positive direction, first subregion I's width is greater than second subregion II width, fourth subregion IV width is greater than third subregion III width, x direction positive direction is the direction of advancing from the car.

In the embodiments shown in fig. 4 and 5, the virtual warning lane widths at different positions are different. Therefore, the shape and the size of the lane-changing early warning area can be set according to the early warning requirement.

For example, the lane-change warning area may be one or more circular or elliptical areas respectively located on the left side and the right side of the bicycle.

In step 103, a vehicle track curve is calculated according to the driving parameters of the vehicle, the transverse distance between the target vehicle and the vehicle in the y direction is calculated, and whether the target vehicle enters the virtual early warning lane is judged based on the transverse distance.

In some embodiments, the driving parameters of the host vehicle include a host vehicle heading angle, a heading curvature change rate, and a relative distance between the target vehicle and the host vehicle.

In some embodiments, calculating the own trajectory curve from the driving parameters of the own vehicle includes fitting the own trajectory curve to a spiral curve equation based on the driving parameters of the own vehicle. The spiral curve equation includes, for example, a cubic spiral curve equation.

In step 104, if the target vehicle is judged to enter the virtual early warning lane, the lane change interval distance of the target vehicle and the track curve of the self vehicle is calculated, the virtual lane change movement change rate is obtained according to the running parameter sampling period, the longitudinal distance of the target vehicle and the self vehicle in the x direction is calculated, and the virtual collision time is obtained according to the longitudinal relative speed of the target vehicle and the self vehicle.

Referring to fig. 6, the own vehicle detects and determines that the target vehicle T enters the virtual pre-warning lane by, for example, a camera and/or a radar detection device.

In some embodiments, calculating the lane change separation distance between the target vehicle and the own vehicle trajectory curve comprises: step 501, determining a first vertical intersection point of a point where a target vehicle is located and a reverse extension line of a self-vehicle track curve in the x direction; step 502, calculating a first distance between the point trace of the target vehicle and the vertical intersection point; step 503, determining a second vertical intersection point of the point trace of the target vehicle and the own-vehicle track curve, and determining a third vertical intersection point of the second vertical intersection point and a reverse extension line of the own-vehicle track curve in the x direction; step 504, calculating a second distance between the second vertical intersection and the first vertical intersection in the y direction and a third distance between the third vertical intersection and the first vertical intersection in the x direction; and 505, calculating to obtain a lane changing spacing distance between the target vehicle and the vehicle track curve according to the first distance, the second distance and the third distance.

In some embodiments, the trace of the point where the target vehicle is located may refer to the center point of the corresponding area at the four side boundaries of the target vehicle.

In fig. 7, the curve of the running locus of the own vehicle is L, and the corresponding curve of the own vehicle locus is a reverse extension line Lr when the own vehicle runs on a non-straight road.

In fig. 7 and 8, the point trace of the target vehicle is Tc. Calculating the lane change spacing distance based on the point track Tc of the target vehicle and the track curve of the vehicle (or called the driving track curve of the vehicle), calculating to obtain a numerical value, and then bringing the specific sizes of the vehicle and the target vehicle into the numerical value to obtain an actual application value. In the illustrations of fig. 7 and 8, the boundaries of the four sides of the own vehicle and the boundary of the target vehicle are not shown for the sake of simplicity of the illustrations. The four-sided boundary of the own vehicle at the position of fig. 7 and 8 is determined with reference to the vehicle coordinate system position in fig. 7 and 8 and the relative positions of the vehicle coordinate system and the four-sided boundary of the own vehicle in fig. 2 to 6. R1 and R2 are road boundary schematic.

Referring to fig. 7 and 8, a first perpendicular intersection D of the point track Tc of the target vehicle and a reverse extension Lr of the own vehicle track curve L (which may also be referred to as a reverse extension of the own vehicle traveling direction) is determined. A first distance Tc-D between the point trace Tc where the target vehicle is located and the first vertical intersection D is calculated.

And determining a second vertical intersection point P of the point track Tc of the target vehicle and the self-vehicle track curve L, and determining a third vertical intersection point C of the second vertical intersection point P and a reverse extension line of the self-vehicle track curve in the x direction.

A second distance in the y direction of the second vertical intersection point P and the first vertical intersection point D and a third distance in the x direction of the third vertical intersection point C and the first vertical intersection point D are calculated. In fig. 8, the second distance has the same value as the length of PC, which is also the length of AD. The third distance is CD, which is also equal to AP. A is the orthographic projection of the second vertical intersection on the line Tc-D.

And then, calculating to obtain the lane changing spacing distance between the target vehicle and the vehicle track curve according to the first distance, the second distance and the third distance. Specifically, the difference Tc-A is obtained based on the first distance Tc-D and the second distance AD. And based on the third distance AP, obtaining the distance of the hypotenuse Tc-P by applying the Pythagorean theorem in the right triangle Tc-A-P, namely the lane-changing spacing distance between the target vehicle and the track curve of the self vehicle. The aforementioned calculation of the lane change interval distance provides accuracy in acquisition of the vehicle navigation parameters.

Next, in step 105, obtaining a virtual lane change moving distance according to the virtual lane change moving change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane change moving distance and the lane change interval distance; that is, the target predicted position is obtained by superimposing the variation amount due to the virtual lane change travel distance on the basis of the lane change interval distance.

In step 106, the accumulated time that the target prediction position is in the first lane change early warning area and/or the second lane change early warning area within a first time length after the vehicle starts lane change operation is calculated, and if the accumulated time exceeds an early warning time threshold, the target vehicle is taken as an effective lane change early warning target.

In some embodiments, a lane change operation may also refer to a relative lane change operation between the host vehicle and the target vehicle, i.e., a lane change operation initiated by the target vehicle, which may be considered a relative lane change operation between the host vehicle and the target vehicle.

In some embodiments, the vehicle lane change early warning method further includes setting a first lane change early warning region and a second lane change early warning region, and after correspondingly determining the virtual early warning lane width, obtaining a lane correction factor according to the vehicle speed of the vehicle and the relative distance between the target vehicle and the vehicle in the x direction and/or the y direction, correcting the first lane change early warning region and the second lane change early warning region based on the lane correction factor, and updating the early warning lane width.

For example, in fig. 4, the first lane change warning region SL2 and the second lane change warning region SR2 are corrected according to a lane correction factor, and the warning lane width is updated. The updated warning lane width is, for example, the product of the initial warning lane width and a coefficient formed by (1+ lane correction factor).

In some embodiments, the lane-correction factor is positively correlated with, for example, the lateral movement distance of the target vehicle over adjacent sampling periods.

In some embodiments, the vehicle lane-changing early warning method further includes binding the lane-changing early warning effective target with the virtual early warning lane according to the position of the sensing device detecting the lane-changing early warning effective target on the vehicle body after determining the lane-changing early warning effective target.

The virtual early warning lane comprises a left virtual early warning lane and a right virtual early warning lane which correspond to the first lane change early warning area and the second lane change early warning area, and further comprises a self-vehicle virtual lane between the left virtual early warning lane and the right virtual early warning lane;

when the sensing device is positioned on the left side of the vehicle body, the lane-changing early warning effective target is bound with the left virtual early warning lane, when the sensing device is positioned on the right side of the vehicle body, the lane-changing early warning effective target is bound with the right virtual early warning lane, and when the distance between the lane-changing early warning effective target and the left boundary or the right boundary of the vehicle is smaller than the third threshold distance, the lane-changing early warning effective target is bound with the virtual lane of the vehicle.

In some embodiments, the method further comprises displaying the binding state of the lane change early warning effective target and the virtual early warning lane on a display interface of the vehicle-mounted device system, so as to improve the intuitiveness of navigation display and the effectiveness of navigation process display.

In some embodiments, the method further includes obtaining a lane change warning signal based on the judgment of the secondary screening condition after determining the effective lane change warning target. The secondary screening conditions include, for example, quality evaluation of the screening target, determination of the virtual collision time threshold, and the like.

The vehicle lane change early warning method provides a lane change early warning dangerous area target division mechanism, effectively screens lateral lane change targets, improves target recognition rate, and reduces false alarm rate.

According to the technical scheme, the target of the lane change early warning danger area is divided, and meanwhile, the influences of the relative speed and the relative distance between the target vehicle and the self vehicle in the transverse direction (namely the y-axis direction) and the longitudinal direction (namely the x-axis direction) are considered; and whether the target is a lane change early warning effective target or not can be judged according to the relative motion relation between the target and the vehicle.

The application also provides a vehicle lane change early warning device. Fig. 9 is a schematic composition diagram of a vehicle lane change warning device according to an embodiment of the present application. The vehicle lane-change warning device 900 may include an internal communication bus 901, a Processor (Processor)902, a Read Only Memory (ROM)903, a Random Access Memory (RAM)904, and a communication port 905. The vehicle lane-change warning device 900 is connected to a network through a communication port, and can be connected to other devices. The internal communication bus 901 may enable data communication among components of the vehicle lane-change warning device 900. The processor 902 may make the determination and issue the prompt. In some embodiments, the processor 902 may be comprised of one or more processors. The communication port 905 may enable sending and receiving information and data from the network. The vehicle lane-change warning device 900 may also include various forms of program storage units and data storage units, such as a Read Only Memory (ROM)903 and a Random Access Memory (RAM)904, capable of storing various data files for computer processing and/or communication use, as well as possibly program instructions for execution by the processor 902. The processor executes these instructions to implement the main parts of the method. The results of the processing by the processor may be communicated to the user device via the communication port for display on the user interface.

The vehicle lane-change warning device 900 may be implemented as a computer program, stored in a memory, and recorded in the processor 902 for execution, so as to implement the vehicle lane-change warning method of the present application.

The present application also provides a computer readable medium having stored thereon computer program code which, when executed by a processor, implements a vehicle lane change warning method as described above.

Aspects of the present application may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software. The above hardware or software may be referred to as "data block," module, "" engine, "" unit, "" component, "or" system. The processor may be one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), digital signal processing devices (DAPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or a combination thereof. Furthermore, aspects of the present application may be represented as a computer product, including computer readable program code, embodied in one or more computer readable media. For example, computer-readable media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips … …), optical disks (e.g., Compact Disk (CD), Digital Versatile Disk (DVD) … …), smart cards, and flash memory devices (e.g., card, stick, key drive … …).

The computer readable medium may comprise a propagated data signal with the computer program code embodied therein, for example, on a baseband or as part of a carrier wave. The propagated signal may take any of a variety of forms, including electromagnetic, optical, and the like, or any suitable combination. The computer readable medium can be any computer readable medium that can communicate, propagate, or transport the program for use by or in connection with an instruction execution system, apparatus, or device. Program code on a computer readable medium may be propagated over any suitable medium, including radio, electrical cable, fiber optic cable, radio frequency signals, or the like, or any combination of the preceding.

Similarly, it should be noted that in the foregoing description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to imply that more features are required than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.

Numerals describing the number of components, attributes, etc. are used in some embodiments, it being understood that such numerals used in the description of the embodiments are modified in some instances by the use of the modifier "about", "approximately" or "substantially". Unless otherwise indicated, "about", "approximately" or "substantially" indicates that the number allows a variation of ± 20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximations that may vary depending upon the desired properties of the individual embodiments. In some embodiments, the numerical parameter should take into account the specified significant digits and employ a general digit preserving approach. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the range are approximations, in the specific examples, such numerical values are set forth as precisely as possible within the scope of the application.

Although the present application has been described with reference to the present specific embodiments, it will be recognized by those skilled in the art that the foregoing embodiments are merely illustrative of the present application and that various changes and substitutions of equivalents may be made without departing from the spirit of the application, and therefore, it is intended that all changes and modifications to the above-described embodiments that come within the spirit of the application fall within the scope of the claims of the application.

Claims

1. A vehicle lane change early warning method comprises the following steps:

establishing a vehicle coordinate system xOy based on the four-side boundary and the traveling direction of the self-vehicle, and marking the four-side boundary of the self-vehicle in the vehicle coordinate system;

determining that a first lane change early warning area and a second lane change early warning area are respectively arranged on the left side and the right side of the self-vehicle based on the vehicle coordinate system and four side boundaries of the self-vehicle, and correspondingly determining the width of a virtual early warning lane;

calculating to obtain a self-vehicle track curve according to the running parameters of the self-vehicle, calculating the transverse distance between the target vehicle and the self-vehicle in the y direction, and judging whether the target vehicle enters the virtual early warning lane or not based on the transverse distance;

if the target vehicle is judged to enter the virtual early warning lane, calculating the lane change interval distance of the target vehicle and the self-vehicle track curve, obtaining the virtual lane change movement change rate according to the driving parameter sampling period, calculating the longitudinal distance of the target vehicle and the self-vehicle in the x direction, and obtaining the virtual collision time according to the longitudinal relative speed of the target vehicle and the self-vehicle;

obtaining a virtual lane change moving distance according to the virtual lane change moving change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane change moving distance and the lane change interval distance;

and calculating the accumulated time of the target prediction position in the first lane change early warning area and/or the second lane change early warning area within a first time length after the self vehicle starts lane change operation, and if the accumulated time exceeds an early warning time threshold, taking the target vehicle as an effective lane change early warning target.

2. The vehicle lane-change warning method of claim 1, wherein the four-sided boundary comprises a left-sided and a right-sided boundary; it includes to confirm respectively to set up first lane change early warning region and second lane change early warning region in the car left and right sides of own car based on vehicle coordinate system and the four sides border of own car:

3. The vehicle lane-changing early warning method as claimed in claim 1, wherein the driving parameters of the host vehicle comprise a host vehicle course angle, a course curvature change rate, and a relative distance between the target vehicle and the host vehicle.

4. The vehicle lane-changing early warning method according to claim 1, wherein calculating a self-vehicle trajectory curve according to the driving parameters of the self-vehicle comprises obtaining the self-vehicle trajectory curve by fitting a spiral curve equation based on the driving parameters of the self-vehicle.

5. The vehicle lane-changing early warning method according to claim 1, wherein calculating a lane-changing spacing distance between a target vehicle and the own-vehicle trajectory curve comprises:

determining a first vertical intersection point of a point trace of a target vehicle and a reverse extension line of a self-vehicle track curve in the x direction;

calculating a first distance between the point trace of the target vehicle and the vertical intersection point;

determining a second vertical intersection point of the point trace of the target vehicle and the self-vehicle track curve, and determining a third vertical intersection point of the second vertical intersection point and a reverse extension line of the self-vehicle track curve in the x direction;

calculating a second distance in the y-direction between the second vertical intersection and the first vertical intersection and a third distance in the x-direction between the third vertical intersection and the first vertical intersection;

and calculating to obtain the lane changing spacing distance between the target vehicle and the self-vehicle track curve according to the first distance, the second distance and the third distance.

6. The vehicle lane-changing early warning method according to claim 1, further comprising binding the lane-changing early warning effective target with the virtual early warning lane according to the position of a sensing device detecting the lane-changing early warning effective target on a vehicle body after determining the lane-changing early warning effective target.

7. The vehicle lane-changing early warning method according to claim 6, wherein the virtual early warning lanes comprise a left virtual early warning lane and a right virtual early warning lane corresponding to the first lane-changing early warning region and the second lane-changing early warning region, and further comprise a self-vehicle virtual lane in the middle of the left virtual early warning lane and the right virtual early warning lane;

8. The vehicle lane-changing early warning method according to claim 6 or 7, further comprising displaying the binding state of the lane-changing early warning effective target and the virtual early warning lane on a vehicle-mounted system display interface.

9. The vehicle lane-changing early warning method according to claim 1, further comprising obtaining a lane-changing early warning signal based on the judgment of the secondary screening condition after determining the lane-changing early warning effective target.

10. The vehicle lane-changing early warning method according to claim 1, further comprising the steps of setting a first lane-changing early warning region and a second lane-changing early warning region, correspondingly determining the width of a virtual early warning lane, obtaining lane correction factors according to the speed of a vehicle and the relative distance between a target vehicle and the vehicle in the x direction and/or the y direction, correcting the first lane-changing early warning region and the second lane-changing early warning region based on the lane correction factors, and updating the width of the early warning lane.

11. The vehicle lane-changing early warning method according to claim 1, wherein the first lane-changing early warning region comprises a first sub-region and a second sub-region, and the second lane-changing early warning region comprises a third sub-region and a fourth sub-region;

wherein, first subregion is in the front side of second subregion along x direction positive direction, the third subregion is in the front side of fourth subregion along x direction positive direction, the width of first subregion is greater than second subregion width, fourth subregion width is greater than third subregion width, x direction positive direction is from the plantago direction.

12. A vehicle lane change warning device comprising:

a memory for storing instructions executable by the processor; and

a processor for executing the instructions to implement the method of any one of claims 1-11.

13. A computer-readable medium having stored thereon computer program code which, when executed by a processor, implements the method of any of claims 1-11.