CN115447599B - Automatic early warning method, device and equipment for vehicle steering and readable storage medium - Google Patents

Automatic early warning method, device and equipment for vehicle steering and readable storage medium Download PDF

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CN115447599B
CN115447599B CN202211157748.3A CN202211157748A CN115447599B CN 115447599 B CN115447599 B CN 115447599B CN 202211157748 A CN202211157748 A CN 202211157748A CN 115447599 B CN115447599 B CN 115447599B
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请求不公布姓名
秦念豪
杨军典
齐明远
周巧云
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Shanghai Baolong Automotive Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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Abstract

The invention relates to an automatic early warning method, device and equipment for vehicle steering and a readable storage medium. The automatic early warning method for vehicle steering comprises the steps of acquiring surrounding environment data of a vehicle and the speed of the vehicle; s1, predicting steering probability; s2, judging whether to turn; s3, triggering steering early warning. The invention provides an automatic early warning method, device and equipment for vehicle steering and a readable storage medium, which can judge whether a vehicle is steered or not and trigger steering early warning according to a judging result so as to assist a driver in steering safely.

Description

Automatic early warning method, device and equipment for vehicle steering and readable storage medium
Technical Field
The present invention relates to the field of automatic driving technologies of vehicles, and in particular, to a method, an apparatus, a device, and a readable storage medium for automatic early warning of vehicle steering.
Background
In the current technical scheme of vehicle steering early warning, there are two cases:
(1) The trigger mechanism for the vehicle steering early warning is highly dependent on the vehicle steering lamp signal, however, in the actual driving process, many vehicle owners do not have good habit of turning on the steering lamp in advance, even there are many situations that the vehicle owners turn on the steering lamp in advance, if the vehicle owners do not turn on the steering lamp in advance, but turn on the steering lamp in the middle of the steering, then the triggering of the surrounding environment early warning reminding function is late, and there is great driving safety risk, and if the vehicle owners do not turn on the steering lamp, then the early warning reminding function is not triggered directly, and the situation is more dangerous. The automatic early warning scheme for vehicle steering cannot be too dependent on the turn signal of the vehicle.
(2) The driver is required to manually switch the large screen to display and observe the blind area picture around the vehicle body, however, in the actual driving process, especially in the steering process, the driver is required to rotate the steering wheel and observe the road environment, at this time, no more attention is paid to manually switch the display buttons, and the series of actions of finding the buttons and pressing the buttons are easy to be dispersed, so that how to acquire the state of the vehicle to be judged in advance, realize automatic steering early warning, and display the blind area detection result in a proper mode, thereby the solution for assisting the driver in safely steering becomes a urgent problem to be solved.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides a method, an apparatus, a device and a readable storage medium for automatic early warning of vehicle steering, which can determine whether a vehicle is steering and trigger early warning of steering according to the determination result, thereby assisting a driver in safe steering.
Specifically, the invention provides an automatic early warning method for vehicle steering, which comprises the following steps: acquiring surrounding environment data of a vehicle and the speed of the vehicle in real time;
s1, predicting steering probability, and respectively calculating first parameters V used for representing average speed difference of adjacent lanes based on surrounding environment data of the vehicle and speed of the own vehicle _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients;
s2, judging whether the steering is performed, judging whether the steering probability of the vehicle reaches a set threshold value, and if so, turning to the step S3;
and S3, triggering steering early warning, judging whether the distance from the vehicle to the intersection meets the preset condition, and if so, triggering the steering early warning.
According to one embodiment of the present invention, if it is determined that the own vehicle passes the current intersection, steps S1 to S3 are updated until the vehicle passes the next intersection.
According to one embodiment of the invention, the vehicle surrounding environment data at least comprises a lane where a vehicle is located, a guiding mark of the vehicle lane, and a vehicle speed of an adjacent lane;
in step S1, a first parameter V for characterizing the average speed difference of the adjacent lanes is calculated based on the vehicle speed and the own vehicle speed of the adjacent lanes _neighbour (t c ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a second parameter Signal (t) for characterizing a passive steering tendency based on the guide mark and the residence time in the lane after the guide mark is acquired c ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a third parameter P for characterizing the active steering trend based on the lane change status of the host vehicle _action (t c )。
According to one embodiment of the invention, the first parameter V _neighbour (t c ) The calculation formula of (2) is as follows:
Figure GDA0004122239170000021
f(Δv)＝sigmoid(V avg (t)-V HV )；
V avg from t 0 To t c Average speed of vehicles in adjacent lanes at moment, V HV Represents the speed of the bicycle, k _i Is the coefficient, t 0 The time when the vehicle enters the lane after passing through the previous intersection is represented, and n represents the number of lanes of the adjacent lane.
According to one embodiment of the invention, the second parameter Signal (t c ) For indicating that the own vehicle is at t l After detecting the guide mark k at the moment, at t c Accumulated value of duration of time that own vehicle still stays in current laneThe calculation formula is as follows:
Figure GDA0004122239170000031
Figure GDA0004122239170000032
wherein t is l A is a parameter at the moment of identifying the guiding mark in the lane, and a is more than or equal to 0 and less than or equal to 1.
According to one embodiment of the invention, the third parameter P _action (t c ) For representing from t 0 To t c The calculation formula of the numerical value of the accumulated action of the steering trend of the self-vehicle at the moment is as follows:
Figure GDA0004122239170000033
Figure GDA0004122239170000034
b. c is a parameter.
According to one embodiment of the invention, the vehicle surrounding environment data is acquired by a vehicle-mounted look-around detection system.
According to one embodiment of the invention, m2 is greater than m1, m3.
According to one embodiment of the present invention, in step S3, the preset condition is a distance from the vehicle to the intersection
Figure GDA0004122239170000035
The time T smaller than the set distance or from the vehicle to the intersection is smaller than the set time, and if one of the set time and the set time is met, the steering early warning is triggered; wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure GDA0004122239170000036
V HV indicating the speed of the vehicle.
According to one embodiment of the present invention, in step S3, the steering pre-warning is triggered to display steering blind area pre-warning information;
and/or synchronously triggering the self-vehicle driving recorder to record the looking-around image data.
The invention also provides a vehicle steering automatic early warning device, which is used for realizing the vehicle steering automatic early warning method, and comprises the following steps:
an acquisition unit configured to acquire the vehicle surrounding environment data and the own vehicle speed;
a prediction unit for calculating a first parameter V for representing the average speed difference of adjacent lanes based on the vehicle surrounding environment data and the vehicle speed _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients;
a judging unit that judges whether the steering probability of the own vehicle reaches a set threshold;
and the triggering unit is used for judging whether the distance from the vehicle to the intersection meets the preset condition or not, and if so, triggering steering early warning.
The invention also provides automatic vehicle steering early warning equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the automatic vehicle steering early warning method when executing the computer program.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle steering automatic warning method of any one of the preceding claims.
According to the automatic early warning method, the device, the equipment and the readable storage medium for vehicle steering, the steering probability is predicted by acquiring the surrounding environment data of the vehicle and the speed of the vehicle, whether the vehicle is steered or not is judged based on the steering probability, and the early warning for steering is triggered according to the judgment result, so that the safe steering of a driver is assisted.
It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.
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The accompanying drawings, which are included to provide a further explanation of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the accompanying drawings:
FIG. 1 shows a flow chart of a vehicle steering automatic early warning method according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a vehicle steering automatic early warning device according to an embodiment of the present invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one 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 specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that, where azimuth terms such as "front, rear, upper, lower, left, right", "transverse, vertical, horizontal", and "top, bottom", etc., indicate azimuth or positional relationships generally based on those shown in the drawings, only for convenience of description and simplification of the description, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
In addition, the terms "first", "second", etc. are used to define the components, and are merely for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and thus should not be construed as limiting the scope of the present application. Furthermore, although terms used in the present application are selected from publicly known and commonly used terms, some terms mentioned in the specification of the present application may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present application be understood, not simply by the actual terms used but by the meaning of each term lying within.
FIG. 1 shows a flow chart of a vehicle steering automatic early warning method according to an embodiment of the present invention. As shown in the figure, the invention provides an automatic early warning method for vehicle steering, which comprises the following steps: acquiring vehicle surrounding environment data and vehicle speed in real time, wherein the vehicle speed can be generally obtained through an ECU (Electronic Control Unit );
s1, predicting steering probability, and respectively calculating first parameters V used for representing average speed difference of adjacent lanes based on surrounding environment data of the vehicle and speed of the own vehicle _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t) c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients; in this step, a first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) Respectively, for representing different steering possibilities and calculating the steering probability of the vehicle by weighting.
S2, judging whether the steering is performed, judging whether the steering probability of the vehicle reaches a set threshold value, and if so, turning to the step S3;
and S3, triggering steering early warning, judging whether the distance from the vehicle to the intersection meets the preset condition, and if so, triggering the steering early warning.
According to the automatic early warning method for vehicle steering, first to third parameters used for representing average speed difference, passive steering trend and active steering trend of adjacent lanes are obtained through the surrounding environment data of the vehicle and the speed of the vehicle, the steering probability is calculated based on the weighting of the first to third parameters, and the automatic early warning function for active steering is achieved based on the judgment of the steering probability. Compared with the prior art, the warning reminding device is automatically triggered before the vehicle turns without depending on the turn signal, so that the danger possibly existing in the vehicle turning process is reduced, and the safety turning of the vehicle is further improved.
Preferably, if it is determined that the own vehicle passes through the current intersection and enters the next intersection, steps S1 to S3 are updated until the vehicle passes through the next intersection. The automatic early warning method for vehicle steering is based on time dimension, and after the vehicle enters the next intersection, the time window is refreshed, and steering probability prediction based on the next time window is started. Therefore, in the running process of the vehicle, the time window is updated continuously, and the surrounding environment data of the vehicle and the speed of the own vehicle which are acquired by updating and analyzing each road section are updated and analyzed, so that the probability value of the vehicle about to turn at the intersection is predicted.
Preferably, the surrounding environment data of the vehicle at least comprises a lane where the own vehicle is located, a guiding mark of the own vehicle lane and the vehicle speed of the adjacent lane;
in step S1, a first parameter V for characterizing the average speed difference of the adjacent lanes is calculated based on the vehicle speed and the own vehicle speed of the adjacent lanes _neighbour (t c ) The method comprises the steps of carrying out a first treatment on the surface of the Based on the guidance marking and the residence time in the lane after the guidance marking has been acquired, a second parameter Signal (t) for characterizing the passive steering tendency is calculated c ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a third parameter P for characterizing the active steering trend based on the lane change status of the host vehicle _action (t c )。
Preferably, the first parameter V _neighbour (t c ) The calculation formula of (2) is as follows:
Figure GDA0004122239170000071
f(Δv)＝sigmoid(V avg (t)-V HV )；
V avg from t 0 To t c Average speed of vehicles in adjacent lanes at moment, V HV Represents the speed of the bicycle, k _i Is the coefficient, t 0 The time when the vehicle enters the lane after passing through the previous intersection is represented, and n represents the number of lanes of the adjacent lane. First parameter V _neighbour (t c ) From t 0 To t c Average speed V of adjacent lane vehicles of lane where own vehicle is located at moment avg Speed V of the vehicle HV The positive correlation function of the integral over time, if there are two adjacent lanes, is accumulated. Coefficient k _i Depending on whether the adjacent lane is a left lane or a right lane. If the adjacent lane is the left lane, the coefficient k _i Can be set to 0.7, and the coefficient k is the coefficient k when the adjacent lane is the right lane _i May be set to 0.3.
Preferably, the second parameter Signal (t c ) For indicating that the own vehicle is at t l After detecting the guide mark k at the moment, at t c The time of day is the value accumulated by the duration of the current lane where the vehicle remains. It is easy to understand that the longer the own vehicle stays in the current lane, the greater the possibility that the vehicle makes a travel direction selection according to the guidance sign k of the current lane. Second parameter Signal (t c ) The calculation formula of (2) is as follows:
Figure GDA0004122239170000081
Figure GDA0004122239170000082
wherein t is l Indicating and identifying guide mark in laneA is a parameter at the moment of identification, and a is more than or equal to 0 and less than or equal to 1. The value of the parameter a may be set to 0.2.
Preferably, the third parameter P _action (t c ) For representing from t 0 To t c And the accumulated value of the steering trend behavior of the vehicle at the moment. The steering trend behavior here includes that the vehicle continuously changes lanes and toward the road edge lane or continuously changes lanes and toward the road middle lane, and the possibility that the vehicle is subsequently steered is indicated by the steering trend behavior cumulative calculation. Third parameter P _action (t c ) The calculation formula of (2) is as follows:
Figure GDA0004122239170000083
Figure GDA0004122239170000084
b. c is a parameter. The values of parameters b, c may be set to 1 and-1.
Preferably, the vehicle surrounding environment data is acquired by a vehicle-mounted look-around detection system. The vehicle-mounted all-around detection system comprises a plurality of all-around cameras arranged on the vehicle, and all-around image data of the periphery of the vehicle can be acquired through the all-around cameras. The image is converted into an IPM image by distortion correction and perspective transformation of the looking-around image data, the image characteristics are extracted by utilizing a convolutional neural network, road information is identified, and the road information comprises a vehicle driving area, surrounding traffic participants, lane lines, lane guide marks, traffic lights and the like. Acquiring a lane where a self-vehicle is located based on a road line; acquiring information such as the speeds of vehicles in adjacent lanes and adjacent lanes, the types and the distances of the vehicles and the like based on the lane lines and traffic participants; identifying a guiding category based on a lane guiding mark, wherein the guiding category comprises turning, turning around, straight running or steering, the turning comprises left turning, right turning, converging and the like, and the steering comprises straight running, right turning, straight running, left turning, straight running, head dropping and the like; the distance from the vehicle to the intersection is obtained based on the vehicle-accessible area and the traffic light. By way of example and not limitation, a part of the vehicle surrounding environment data may also be acquired by a laser radar, millimeter wave radar, or infrared camera provided on the vehicle. For example, a lidar or millimeter wave radar may be used to obtain the average speed of the vehicle in adjacent lanes and an infrared camera may be used to obtain lane guide identification.
Preferably, the value of the weight coefficient m2 is greater than the values of m1 and m3. Giving a second parameter Signal (t c ) A relatively large weight value is used to represent the second parameter Signal (t c ) The impact on the steering probability calculation is greater. More preferably, the sum of the weight coefficients m1, m2 and m3 is 1.
Preferably, the threshold is set to 0.85 in step S2. When the steering probability calculation result reaches or exceeds 0.85, the process proceeds to step S3.
Preferably, in step S3, the preset condition is a distance from the vehicle to the intersection
Figure GDA0004122239170000091
The time T smaller than the set distance or from the vehicle to the intersection is smaller than the set time, and if one of the set time and the set time is met, the steering early warning is triggered; wherein (1)>
Figure GDA0004122239170000092
V HV Indicating the speed of the vehicle. Setting the distance to be 2m and the time to be 3s, and triggering steering early warning if the calculation result meets one of the two conditions.
Preferably, in step S3, the steering early warning is triggered to display steering blind area early warning information; and/or synchronously triggering the self-vehicle driving recorder to record the looking-around image data. The steering blind area early warning information can be displayed on a vehicle screen or projected onto a front windshield of a vehicle.
Fig. 2 is a schematic structural view of a vehicle steering automatic early warning device according to an embodiment of the present invention. As shown in the figure, the invention also provides an automatic vehicle steering early warning device 200. The automatic vehicle steering early warning device 200 is used for implementing the automatic vehicle steering early warning method, and mainly comprises an acquisition unit 201, a prediction unit 202, a judgment unit 203 and a triggering unit 204.
Wherein the acquisition unit 201 is configured to acquire the vehicle surrounding environment data and the own vehicle speed;
the prediction unit 202 calculates a first parameter V for characterizing the average speed difference of adjacent lanes based on the vehicle surrounding environment data and the own vehicle speed _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients;
the judging unit 203 is configured to judge whether the steering probability of the own vehicle reaches a set threshold;
the triggering unit 204 is configured to determine whether the distance from the vehicle to the intersection meets a preset condition, and if yes, trigger a steering warning.
The invention also provides automatic vehicle steering early warning equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of any one of the automatic vehicle steering early warning methods.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the foregoing methods for automatic early warning of vehicle steering.
The specific implementation manner and technical effects of the vehicle steering automatic early warning device, the vehicle steering automatic early warning equipment and the computer readable storage medium can be referred to the embodiment of the vehicle steering automatic early warning method provided by the invention, and are not repeated here.
The vehicle steering automatic early warning method, the device, the equipment and the readable storage medium provided by the invention have the following advantages:
(1) The steering early warning system solves the problem that in the prior art, the steering early warning mechanism highly depends on the information of the vehicle steering lamp, acquires the surrounding environment data of the vehicle and the speed of the own vehicle in advance, realizes the active steering early warning function, and accordingly triggers steering early warning and improves safe steering.
(2) The method and the device solve the problem that in the prior art, the operation of observing the blind area condition by manually switching the large screen display is needed, and the more autonomous and more automatic vehicle steering blind area early warning is realized.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
It will be apparent to those skilled in the art that various modifications and variations can be made to the above-described exemplary embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims (12)

1. An automatic early warning method for vehicle steering comprises the following steps: acquiring surrounding environment data of a vehicle and the speed of the vehicle in real time;
s1, predicting steering probability, and respectively calculating first parameters V used for representing average speed difference of adjacent lanes based on surrounding environment data of the vehicle and speed of the own vehicle _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients;
s2, judging whether the steering is performed, judging whether the steering probability of the vehicle reaches a set threshold value, and if so, turning to the step S3;
s3, triggering steering early warning and judging the distance from the vehicle to the intersection
Figure FDA0004240609530000011
Less than a set distance or from vehicle to vehicleThe time T of the intersection is smaller than the set time, and if the time T of the intersection is smaller than the set time, the steering early warning is triggered; wherein (1)>
Figure FDA0004240609530000012
V HV Indicating the speed of the vehicle.
2. The automatic early warning method for vehicle steering according to claim 1, wherein if it is determined that the own vehicle passes the current intersection, steps S1 to S3 are updated until the vehicle passes the next intersection.
3. The automatic early warning method for vehicle steering according to claim 1, wherein the surrounding environment data of the vehicle at least comprises a lane where the own vehicle is located, a guiding mark of the own vehicle lane, and a vehicle speed of an adjacent lane;
in step S1, a first parameter V for characterizing the average speed difference of the adjacent lanes is calculated based on the vehicle speed and the own vehicle speed of the adjacent lanes _neighbour (t c ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a second parameter Signal (t) for characterizing a passive steering tendency based on the guide mark and the residence time in the lane after the guide mark is acquired c ) The method comprises the steps of carrying out a first treatment on the surface of the Calculating a third parameter P for characterizing the active steering trend based on the lane change status of the host vehicle _action (t c )。
4. The vehicle steering automatic early warning method according to claim 3, characterized in that the first parameter V _neighbour (t c ) The calculation formula of (2) is as follows:
Figure FDA0004240609530000021
f(Δv)＝sigmoid(V avg (t)-V HV )；
V avg from t 0 To t c Average speed of vehicles in adjacent lanes at moment, V HV Represents the speed of the bicycle, k _i Is the coefficient, t 0 The time when the vehicle enters the lane after passing through the previous intersection is represented, and n represents the number of lanes of the adjacent lane.
5. The vehicle steering automatic warning method according to claim 3, characterized in that the second parameter Signal (t c ) For indicating that the own vehicle is at t l After detecting the guide mark k at the moment, at t c The accumulated value of the duration time of the own vehicle still staying in the current lane at the moment is calculated by the following formula:
Figure FDA0004240609530000022
Figure FDA0004240609530000023
wherein t is l A is a parameter at the moment of identifying the guiding mark in the lane, and a is more than or equal to 0 and less than or equal to 1.
6. The vehicle steering automatic early warning method according to claim 3, characterized in that the third parameter P _action (t c ) For representing from t 0 To t c The calculation formula of the numerical value of the accumulated action of the steering trend of the self-vehicle at the moment is as follows:
Figure FDA0004240609530000024
Figure FDA0004240609530000025
b. c is a parameter.
7. The vehicle steering automatic early warning method according to claim 1, characterized in that the vehicle surroundings data is acquired by a vehicle-mounted look-around detection system.
8. The automatic vehicle steering warning method according to claim 1, characterized in that the steering warning is triggered in step S3 to display steering blind zone warning information.
9. The automatic early warning method for vehicle steering according to claim 1, further comprising step S4 of triggering a self-vehicle driving recorder to record the looking-around image data.
10. An automatic vehicle steering early warning device for implementing the automatic vehicle steering early warning method according to claim 1, characterized by comprising:
an acquisition unit configured to acquire the vehicle surrounding environment data and the own vehicle speed;
a prediction unit for calculating a first parameter V for representing the average speed difference of adjacent lanes based on the vehicle surrounding environment data and the vehicle speed _neighbour (t c ) Second parameter Signal (t) c ) Third parameter P for characterizing active steering trend _action (t c ) For the first parameter V _neighbour (t c ) Second parameter Signal (t c ) Third parameter P _action (t c ) After normalization processing, weights of the first to third parameters are configured, and the steering probability P (t c )：
P(t c )＝m 1 ×V _neighbour (t c )+m 2 ×Signal(t c )+m 3 ×P _action (t c )；
Wherein t is c Representing the current moment, wherein m1, m2 and m3 are weight coefficients;
a judging unit that judges whether the steering probability of the own vehicle reaches a set threshold;
and the triggering unit is used for judging whether the distance from the vehicle to the intersection meets the preset condition or not, and if so, triggering steering early warning.
11. A vehicle steering automatic early warning device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the vehicle steering automatic early warning method according to any one of claims 1-9 when executing the computer program.
12. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the vehicle steering automatic warning method according to any one of claims 1 to 9.
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