CN116552373A - Auxiliary interaction method, system and device for lane changing of vehicle and storage medium - Google Patents
Auxiliary interaction method, system and device for lane changing of vehicle and storage medium Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
- B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
- B60Q1/5037—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays the display content changing automatically, e.g. depending on traffic situation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention discloses a vehicle lane change auxiliary interaction method, a system, a device and a storage medium, comprising the following steps: determining a target lane change lane in response to a lane change assisting interaction request of a driver of the current vehicle; acquiring first image information of a target lane change, and determining a plurality of target vehicles according to the first image information; the lane change request information of a driver is obtained, and the lane change request information is displayed through a vehicle window of the current vehicle, which is close to a target lane change; and acquiring lane change feedback information displayed by the window of the target vehicle, and reminding a driver to perform corresponding lane change operation of the vehicle according to the lane change feedback information. The invention improves the efficiency and accuracy of information interaction between vehicles during lane changing, thereby improving the safety of lane changing of the vehicles and being widely applied to the technical field of vehicle control.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle lane change auxiliary interaction method, a system, a device and a storage medium.
Background
In the running process of the vehicle, if the lane needs to be replaced, a driver usually operates a turn signal switch to send a signal to other vehicles running in the same direction on the target lane, and then the driver performs lane change driving operation. However, this approach has the following disadvantages:
1) Drivers of other vehicles are required to keep track of whether surrounding vehicles turn on the steering lamps or not, the burden of the drivers is increased, and the efficiency is low;
2) The process of communication interaction with drivers of other vehicles is lacking, lane change indication is sent only unilaterally, the reason that lane change is needed by the driver cannot be accurately transmitted, and whether the drivers of other vehicles accept lane change requests cannot be accurately known, so that traffic accidents are easy to cause, and certain potential safety hazards exist.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art to a certain extent.
Therefore, an object of the embodiments of the present invention is to provide a vehicle lane change auxiliary interaction method, which improves efficiency and accuracy of information interaction between vehicles during lane change, thereby improving safety of lane change of vehicles.
Another object of the embodiment of the invention is to provide a vehicle lane change auxiliary interaction system.
In order to achieve the technical purpose, the technical scheme adopted by the embodiment of the invention comprises the following steps:
in a first aspect, an embodiment of the present invention provides a vehicle lane-changing auxiliary interaction method, including the following steps:
determining a target lane change lane in response to a lane change assisting interaction request of a driver of the current vehicle;
acquiring first image information of the target lane change lane, and determining a plurality of target vehicles according to the first image information;
obtaining lane change request information of the driver, and displaying the lane change request information through a vehicle window of the current vehicle, which is close to the target lane change;
and acquiring lane change feedback information displayed by the window of the target vehicle, and reminding the driver of carrying out corresponding vehicle lane change operation according to the lane change feedback information.
Further, in one embodiment of the present invention, the step of determining the target lane-changing lane in response to the lane-changing auxiliary interaction request of the current vehicle specifically includes:
generating the lane change assisting interaction request according to first operation information of a driver of the current vehicle, wherein the first operation information comprises at least one of first key information, first voice information and first gesture information;
determining a target lane change direction according to the lane change auxiliary interaction request;
and acquiring a current lane in which the current vehicle is positioned, and determining the target lane change according to the current lane and the target lane change direction.
Further, in one embodiment of the present invention, the step of acquiring the first image information of the target lane-changing lane and determining a plurality of target vehicles according to the first image information specifically includes:
acquiring first image information of the target lane change through a camera device, wherein the camera device is arranged at one side of the current vehicle, which is close to the target lane change;
inputting the first image information into a pre-trained vehicle detection model to obtain a vehicle detection result;
and determining a plurality of target vehicles in the first image information according to the vehicle detection result.
Further, in one embodiment of the present invention, the vehicle lane-changing auxiliary interaction method further includes a step of pre-training the vehicle detection model, which specifically includes:
acquiring a plurality of preset lane object sample images, and determining label information of each lane object sample image, wherein each lane object sample image comprises a vehicle sample image;
constructing a training data set according to the lane object sample image and the corresponding label information;
and inputting the training data set into a pre-constructed convolutional neural network for training to obtain the trained vehicle detection model.
Further, in one embodiment of the present invention, the step of inputting the training data set into a pre-constructed convolutional neural network for training to obtain a trained vehicle detection model specifically includes:
inputting the training data set into the convolutional neural network to obtain a lane object recognition result;
determining a loss value of the convolutional neural network according to the lane object identification result and the label information;
updating model parameters of the convolutional neural network through a back propagation algorithm according to the loss value, and returning to the step of inputting the training data set into the convolutional neural network;
and stopping training when the loss value reaches a preset first threshold value or the iteration number reaches a preset second threshold value, and obtaining a trained vehicle detection model.
Further, in one embodiment of the present invention, the step of obtaining lane change request information of the driver and displaying the lane change request information through a window of the current vehicle approaching the target lane change lane specifically includes:
acquiring second voice information of the driver, and performing voice recognition on the second voice information to obtain the lane change request information;
determining azimuth information of the target vehicle relative to the current vehicle according to the first image information;
determining a window to be displayed according to the azimuth information, wherein the window to be displayed comprises at least one of a left side window, a right side window, a left side area of a windshield, a right side area of the windshield, a left side area of a rear window and a right side area of the rear window, which are close to the target lane change lane;
and displaying the lane change request information through the vehicle window to be displayed.
Further, in an embodiment of the present invention, the step of obtaining lane change feedback information displayed by a window of the target vehicle, and reminding the driver to perform a corresponding lane change operation of the vehicle according to the lane change feedback information further includes:
acquiring second image information of the window of the target vehicle through an image pickup device, and performing character recognition detection on the second image information to obtain lane change feedback information;
and generating corresponding voice reminding information according to the lane change feedback information, and reminding the driver to perform corresponding lane change operation of the vehicle through the voice reminding information.
In a second aspect, an embodiment of the present invention provides a vehicle lane-changing auxiliary interaction system, including:
the target lane change determining module is used for determining a target lane change lane in response to a lane change auxiliary interaction request of a driver of the current vehicle;
the target vehicle determining module is used for acquiring first image information of the target lane change and determining a plurality of target vehicles according to the first image information;
the lane change request display module is used for acquiring lane change request information of the driver and displaying the lane change request information through a vehicle window of the current vehicle, which is close to the target lane change lane;
the lane change reminding module is used for obtaining lane change feedback information displayed by the window of the target vehicle and reminding the driver of carrying out corresponding vehicle lane change operation according to the lane change feedback information.
In a third aspect, an embodiment of the present invention provides a vehicle lane-changing auxiliary interaction apparatus, including:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a vehicle lane change assist interaction method as described above.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium having stored therein a processor executable program for performing a vehicle lane change assist interaction method as described above when executed by a processor.
The advantages and benefits of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
According to the embodiment of the invention, the target lane change is determined in response to the lane change auxiliary interaction request of the driver of the current vehicle, then the first image information of the target lane change is acquired, a plurality of target vehicles are determined according to the first image information, then the lane change request information of the driver is acquired, the lane change request information is displayed through the window of the current vehicle close to the target lane change, further lane change feedback information displayed by the window of the target vehicle is acquired, and the driver is reminded of carrying out corresponding vehicle lane change operation according to the lane change feedback information. According to the embodiment of the invention, the lane changing request information and the lane changing feedback information are displayed through the vehicle window, so that the information interaction between the current vehicle and the target vehicle in the lane changing process of the vehicle can be realized, the efficiency and the accuracy of the information interaction between the vehicles in lane changing are improved, and the lane changing safety of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will refer to the drawings that are needed in the embodiments of the present invention, and it should be understood that the drawings in the following description are only for convenience and clarity to describe some embodiments in the technical solutions of the present invention, and other drawings may be obtained according to these drawings without any inventive effort for those skilled in the art.
FIG. 1 is a flow chart of steps of a vehicle lane change assisting interaction method provided by an embodiment of the invention;
FIG. 2 is a block diagram of a vehicle lane change auxiliary interaction system according to an embodiment of the present invention;
fig. 3 is a block diagram of a vehicle lane change auxiliary interaction device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
In the description of the present invention, the plurality means two or more, and if the description is made to the first and second for the purpose of distinguishing technical features, it should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the precedence of the indicated technical features. Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art.
Referring to fig. 1, an embodiment of the present invention provides a vehicle lane change auxiliary interaction method, which specifically includes the following steps:
s101, determining a target lane change lane in response to a lane change assisting interaction request of a driver of a current vehicle.
Specifically, when the driver of the current vehicle needs to change the lane of the vehicle, a lane change assisting interaction request may be issued through related operations, where the lane change assisting interaction request includes a direction (left side or right side) in which the current vehicle wants to change the lane, and a target lane change lane may be determined based on the lane change assisting interaction request.
Further as an optional implementation manner, the step of determining the target lane change lane in response to the lane change assisting interaction request of the current vehicle specifically includes:
s1011, generating a lane change assisting interaction request according to first operation information of a driver of a current vehicle, wherein the first operation information comprises at least one of first key information, first voice information and first gesture information;
s1012, determining a target lane change direction according to the lane change auxiliary interaction request;
s1013, acquiring a current lane where the current vehicle is located, and determining a target lane change according to the current lane and the target lane change direction.
Specifically, the driver can send out a lane changing auxiliary interaction request through key operation (such as pressing a left lane changing key), a voice instruction (such as left lane changing) or a gesture instruction (such as left hand swing), and after the vehicle detects the corresponding operation of the driver, the vehicle can generate a corresponding lane changing auxiliary interaction request; and determining the direction in which the driver wants to change the lane, namely the left side or the right side, according to the lane change auxiliary interaction request, and then determining the lane adjacent to the target lane change direction as the target lane change by combining the lane in which the current vehicle is positioned.
S102, acquiring first image information of a target lane change, and determining a plurality of target vehicles according to the first image information.
Specifically, after the target lane change is determined, the first image information of the target lane change can be obtained through the image pickup device at the corresponding position on the current vehicle, and the target vehicle on the target lane change is identified and detected according to the first image information, namely the vehicle needing lane change information interaction of the current vehicle.
Further as an optional implementation manner, the step of acquiring the first image information of the target lane change and determining a plurality of target vehicles according to the first image information specifically includes:
s1021, acquiring first image information of a target lane change through a camera device, wherein the camera device is arranged on one side of a current vehicle, which is close to the target lane change;
s1022, inputting the first image information into a pre-trained vehicle detection model to obtain a vehicle detection result;
s1023, determining a plurality of target vehicles in the first image information according to the vehicle detection result.
Specifically, in the embodiment of the invention, the first image information of the target lane-changing lane is obtained through the image pickup device arranged on one side of the current vehicle, which is close to the target lane-changing lane, and it can be understood that the image pickup devices are arranged on two sides of the current vehicle, and after the target lane-changing lane is determined, only the image pickup devices on the corresponding sides can be started to carry out image obtaining and subsequent recognition processing, so that the calculation burden of the system is reduced, and the efficiency is improved.
The vehicle detection model is obtained through convolutional neural network training, and the first image information is input into the vehicle detection model, so that a corresponding vehicle detection result can be obtained, and a plurality of target vehicles are determined in the first image information.
Further as an optional implementation manner, the vehicle lane change auxiliary interaction method further comprises a step of pre-training a vehicle detection model, which specifically comprises the following steps:
a1, acquiring a plurality of preset lane object sample images, and determining label information of each lane object sample image, wherein each lane object sample image comprises a vehicle sample image;
a2, constructing a training data set according to the lane object sample image and the corresponding label information;
and A3, inputting the training data set into a pre-constructed convolutional neural network for training to obtain a trained vehicle detection model.
Specifically, when the training data set is constructed, a plurality of lane object sample images of different types, such as vehicles, signs, non-motor vehicles and the like, are acquired, and each type of lane object sample image is also provided with a plurality of images, and the label information of each lane object sample image is determined according to the corresponding object type.
Further as an optional implementation manner, the step of inputting the training data set into a pre-constructed convolutional neural network to perform training to obtain a trained vehicle detection model specifically includes:
a31, inputting the training data set into a convolutional neural network to obtain a lane object recognition result;
a32, determining a loss value of the convolutional neural network according to the lane object identification result and the label information;
a33, updating model parameters of the convolutional neural network through a back propagation algorithm according to the loss value, and returning to the step of inputting the training data set into the convolutional neural network;
a34, stopping training when the loss value reaches a preset first threshold value or the iteration number reaches a preset second threshold value, and obtaining a trained vehicle detection model.
Specifically, after data in the training data set is input into the initialized convolutional neural network model, a recognition result output by the model, namely a lane object recognition result, can be obtained, and the accuracy of model prediction can be evaluated according to the lane object recognition result and the label information, so that parameters of the model are updated. For a vehicle detection model, the accuracy of the model identification result can be measured by a Loss Function (Loss Function), which is defined on a single training data and is used for measuring the prediction error of one training data, specifically determining the Loss value of the training data through the label of the single training data and the prediction result of the model on the training data. In actual training, one training data set has a lot of training data, so that a Cost Function (Cost Function) is generally adopted to measure the overall error of the training data set, and the Cost Function is defined on the whole training data set and is used for calculating the average value of the prediction errors of all the training data, so that the prediction effect of the model can be better measured. For a general machine learning model, based on the cost function, a regular term for measuring the complexity of the model can be used as a training objective function, and based on the objective function, the loss value of the whole training data set can be obtained. There are many kinds of common loss functions, such as 0-1 loss function, square loss function, absolute loss function, logarithmic loss function, cross entropy loss function, etc., which can be used as the loss function of the machine learning model, and will not be described in detail herein. In the embodiment of the invention, one loss function can be selected to determine the loss value of training. Based on the trained loss value, updating the parameters of the model by adopting a back propagation algorithm, and iterating for several rounds to obtain the trained vehicle detection model. Specifically, the number of iteration rounds may be preset, or training may be considered complete when the test set meets the accuracy requirements.
S103, obtaining lane change request information of a driver, and displaying the lane change request information through a vehicle window of the current vehicle approaching a target lane change.
Specifically, after a target vehicle is determined to exist on a target lane change and the target vehicle is identified and determined, lane change request information of a driver is acquired through identification voice, and then display is carried out through windows of the current vehicle, which are close to the target lane change.
Further as an optional implementation manner, the step of obtaining lane change request information of the driver and displaying the lane change request information through a window where the current vehicle approaches to the target lane change lane specifically includes:
s1031, obtaining second voice information of a driver, and performing voice recognition on the second voice information to obtain lane change request information;
s1032, determining the azimuth information of the target vehicle relative to the current vehicle according to the first image information;
s1033, determining a window to be displayed according to azimuth information, wherein the window to be displayed comprises at least one of a left side window, a right side window, a left side area of a windshield, a right side area of the windshield, a left side area of a rear window and a right side area of the rear window, which are close to a target lane change lane;
s1034, displaying lane change request information through the vehicle window to be displayed.
Specifically, the driver can directly say the reason of making the request for changing the lane and related polite such as "go to hospital for medical treatment, need to change lane, ask for help, thank for-! According to the method, the corresponding text information is obtained through voice recognition, and in addition, the matched expression package picture can be added according to emotion recognition, so that a driver of a target vehicle can receive a lane changing request of the current vehicle more easily.
According to the position of the target vehicle in the first image information, the position of the target vehicle corresponding to the current vehicle can be determined, for example, taking the left side as the target lane change direction as an example, when the detected target vehicle is in the right side area of the first image information, the target vehicle is indicated to be in the left front of the current vehicle, and at the moment, the text of lane change request information can be displayed through a left side window and a left side area of a windshield (occupying a smaller area and not affecting the sight of a driver of the current vehicle); when the target vehicle is detected to be in the left region of the first image, it is indicated that the target vehicle is in the left rear of the current vehicle, and at this time, text of the lane change request information may be displayed through the left window and the left region of the rear window.
S104, obtaining lane change feedback information displayed by the window of the target vehicle, and reminding a driver of carrying out corresponding vehicle lane change operation according to the lane change feedback information.
Specifically, the driver of the target vehicle can directly observe the lane changing request information displayed by the window of the current vehicle, and the lane changing request information can also be obtained through image acquisition and text recognition detection by the camera device on the target vehicle and broadcasted to the driver of the target vehicle. After the driver of the target vehicle obtains the lane change request information, lane change feedback information can be sent out through voice, the lane change request information can be converted into corresponding words through voice recognition, then the corresponding words are displayed through windows on one side, close to the current vehicle, of the target vehicle, and the driver of the current vehicle can be reminded of carrying out corresponding lane change operation of the vehicle after the lane change feedback information is obtained by the current vehicle.
Further as an optional implementation manner, the step of obtaining lane change feedback information displayed by the window of the target vehicle and reminding the driver of performing corresponding lane change operation of the vehicle according to the lane change feedback information further comprises:
s1041, acquiring second image information of a window of a target vehicle through a camera device, and performing text recognition detection on the second image information to obtain lane change feedback information;
s1042, generating corresponding voice reminding information according to the lane change feedback information, and reminding a driver to perform corresponding lane change operation of the vehicle through the voice reminding information.
Specifically, the second image information of the window of the target vehicle is obtained through the image capturing device, so that lane change feedback information of a driver of the target vehicle is identified, if the lane change feedback information is a lane change permission, corresponding voice reminding information such as "lane change permission of the target vehicle is achieved, lane change operation is required to be completed as soon as possible" if the lane change feedback information is a lane change non-permission, corresponding voice reminding information such as "lane change non-permission of the target vehicle due to special conditions is required to be achieved, the driver can perform corresponding operation to complete lane change of the vehicle or delay lane change of the vehicle based on the voice reminding information, and the driver can search for the target vehicle again to initiate a lane change request after the lane change is required to be decelerated.
In some alternative embodiments, the current vehicle may also express thank to the target vehicle that allows for lane change insertion through the rear window after the lane change of the vehicle is completed.
The method steps of the embodiments of the present invention are described above. It can be understood that the embodiment of the invention can realize the information interaction between the current vehicle and the target vehicle in the vehicle lane changing process by displaying the lane changing request information and the lane changing feedback information through the vehicle window, and improve the efficiency and accuracy of the information interaction between the vehicles in lane changing, thereby improving the lane changing safety of the vehicles.
Referring to fig. 2, an embodiment of the present invention provides a lane-changing auxiliary interactive system for a vehicle, including:
the target lane change determining module is used for determining a target lane change lane in response to a lane change auxiliary interaction request of a driver of the current vehicle;
the target vehicle determining module is used for acquiring first image information of a target lane change and determining a plurality of target vehicles according to the first image information;
the lane change request display module is used for acquiring lane change request information of a driver and displaying the lane change request information through a vehicle window of a current vehicle approaching a target lane change;
the lane change reminding module is used for obtaining lane change feedback information displayed by the window of the target vehicle and reminding a driver of carrying out corresponding lane change operation of the vehicle according to the lane change feedback information.
The content in the method embodiment is applicable to the system embodiment, the functions specifically realized by the system embodiment are the same as those of the method embodiment, and the achieved beneficial effects are the same as those of the method embodiment.
Referring to fig. 3, an embodiment of the present invention provides a lane-changing auxiliary interaction apparatus for a vehicle, including:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a vehicle lane change assist interaction method as described above.
The content in the method embodiment is applicable to the embodiment of the device, and the functions specifically realized by the embodiment of the device are the same as those of the method embodiment, and the obtained beneficial effects are the same as those of the method embodiment.
The embodiment of the invention also provides a computer readable storage medium, in which a program executable by a processor is stored, the program executable by the processor is used for executing the vehicle lane changing auxiliary interaction method.
The computer readable storage medium of the embodiment of the invention can execute the auxiliary interaction method for the lane changing of the vehicle, which is provided by the embodiment of the method of the invention, and can execute the steps of the embodiment of the method in any combination, thereby having the corresponding functions and beneficial effects of the method.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of a computer device, and executed by the processor, to cause the computer device to perform the method shown in fig. 1.
In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.
Furthermore, while the present invention has been described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the functions and/or features described above may be integrated in a single physical device and/or software module or one or more of the functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Accordingly, one of ordinary skill in the art can implement the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the invention, which is to be defined in the appended claims and their full scope of equivalents.
The above functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or a part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-described method of the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium upon which the program described above is printed, as the program described above may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the foregoing description of the present specification, reference has been made to the terms "one embodiment/example", "another embodiment/example", "certain embodiments/examples", and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. The vehicle lane change auxiliary interaction method is characterized by comprising the following steps of:
determining a target lane change lane in response to a lane change assisting interaction request of a driver of the current vehicle;
acquiring first image information of the target lane change lane, and determining a plurality of target vehicles according to the first image information;
obtaining lane change request information of the driver, and displaying the lane change request information through a vehicle window of the current vehicle, which is close to the target lane change;
and acquiring lane change feedback information displayed by the window of the target vehicle, and reminding the driver of carrying out corresponding vehicle lane change operation according to the lane change feedback information.
2. The method for assisting interaction in lane changing of a vehicle according to claim 1, wherein the step of determining the target lane changing lane in response to the request for assisting interaction in lane changing of the current vehicle comprises:
generating the lane change assisting interaction request according to first operation information of a driver of the current vehicle, wherein the first operation information comprises at least one of first key information, first voice information and first gesture information;
determining a target lane change direction according to the lane change auxiliary interaction request;
and acquiring a current lane in which the current vehicle is positioned, and determining the target lane change according to the current lane and the target lane change direction.
3. The vehicle lane-changing auxiliary interaction method according to claim 1, wherein the step of acquiring first image information of the target lane-changing lane and determining a plurality of target vehicles according to the first image information comprises the steps of:
acquiring first image information of the target lane change through a camera device, wherein the camera device is arranged at one side of the current vehicle, which is close to the target lane change;
inputting the first image information into a pre-trained vehicle detection model to obtain a vehicle detection result;
and determining a plurality of target vehicles in the first image information according to the vehicle detection result.
4. A vehicle lane-changing assisted interaction method according to claim 3, further comprising the step of pre-training said vehicle detection model, comprising:
acquiring a plurality of preset lane object sample images, and determining label information of each lane object sample image, wherein each lane object sample image comprises a vehicle sample image;
constructing a training data set according to the lane object sample image and the corresponding label information;
and inputting the training data set into a pre-constructed convolutional neural network for training to obtain the trained vehicle detection model.
5. The method for assisting interaction in lane changing of a vehicle according to claim 4, wherein the step of inputting the training data set into a convolutional neural network constructed in advance to train and obtain the trained vehicle detection model specifically comprises the following steps:
inputting the training data set into the convolutional neural network to obtain a lane object recognition result;
determining a loss value of the convolutional neural network according to the lane object identification result and the label information;
updating model parameters of the convolutional neural network through a back propagation algorithm according to the loss value, and returning to the step of inputting the training data set into the convolutional neural network;
and stopping training when the loss value reaches a preset first threshold value or the iteration number reaches a preset second threshold value, and obtaining a trained vehicle detection model.
6. The method for assisting interaction of lane changing of a vehicle according to claim 1, wherein the step of obtaining lane changing request information of the driver and displaying the lane changing request information through a window of the current vehicle approaching the target lane changing lane comprises the following steps:
acquiring second voice information of the driver, and performing voice recognition on the second voice information to obtain the lane change request information;
determining azimuth information of the target vehicle relative to the current vehicle according to the first image information;
determining a window to be displayed according to the azimuth information, wherein the window to be displayed comprises at least one of a left side window, a right side window, a left side area of a windshield, a right side area of the windshield, a left side area of a rear window and a right side area of the rear window, which are close to the target lane change lane;
and displaying the lane change request information through the vehicle window to be displayed.
7. The vehicle lane-changing auxiliary interaction method according to any one of claims 1 to 6, wherein the step of obtaining lane-changing feedback information displayed on a window of the target vehicle, and reminding the driver of performing a corresponding vehicle lane-changing operation according to the lane-changing feedback information, further comprises:
acquiring second image information of the window of the target vehicle through an image pickup device, and performing character recognition detection on the second image information to obtain lane change feedback information;
and generating corresponding voice reminding information according to the lane change feedback information, and reminding the driver to perform corresponding lane change operation of the vehicle through the voice reminding information.
8. A lane-changing assisted interactive system for a vehicle, comprising:
the target lane change determining module is used for determining a target lane change lane in response to a lane change auxiliary interaction request of a driver of the current vehicle;
the target vehicle determining module is used for acquiring first image information of the target lane change and determining a plurality of target vehicles according to the first image information;
the lane change request display module is used for acquiring lane change request information of the driver and displaying the lane change request information through a vehicle window of the current vehicle, which is close to the target lane change lane;
the lane change reminding module is used for obtaining lane change feedback information displayed by the window of the target vehicle and reminding the driver of carrying out corresponding vehicle lane change operation according to the lane change feedback information.
9. A lane-changing auxiliary interactive apparatus for a vehicle, comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement a vehicle lane change assist interaction method as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, in which a processor-executable program is stored, characterized in that the processor-executable program, when being executed by a processor, is adapted to carry out a vehicle lane-changing auxiliary interaction method as claimed in any one of claims 1 to 7.
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