Vehicle lane change safety detection method, device, vehicle and storage medium

Abstract

This application discloses a vehicle lane change safety detection method, device, vehicle, and storage medium. The method includes: detecting a user's driving intention; when a lane change intention is detected, using a pre-trained kinematic model to generate a minimum safe distance between the vehicle and the preceding vehicle, and using a pre-trained following model to generate a desired safe distance for the target lane; comparing the minimum safe distance and the desired safe distance with the corresponding actual distances, and issuing a lane change warning when the minimum safe distance or the desired safe distance is less than the corresponding actual distance. This solves the technical problem in related technologies of calculating lane change freedom and assisted lane change models using kinematic models containing weight coefficients, resulting in complex parameter tuning, which is not conducive to engineering application implementation, and insufficient consideration of the safety of the vehicle behind.

Description

Technical Field

[0001] The present application relates to the field of vehicle active safety technology, and in particular to a vehicle lane change safety detection method, device, vehicle, and storage medium. Background Art

[0002] With the development of science and technology, vehicles have become the main means of transportation. As the number of vehicles increases, road traffic pressure gradually increases, and the accompanying traffic accidents also increase accordingly. Especially when vehicles change lanes, vehicle collisions are very likely to occur, posing serious safety hazards.

[0003] In related technologies, lane change freedom can be calculated using a kinematic model containing weight coefficients, and the boundary values ​​of the rear vehicle can be calculated to determine the safe lane change range of the vehicle, thereby assisting in lane changes. However, related technologies require parameter adjustment, which is relatively complex and not conducive to engineering implementation. Moreover, they only target rear vehicles, are not safe enough, and urgently need improvement. Summary of the Invention

[0004] The present application provides a vehicle lane change safety detection method, device, vehicle and storage medium to solve the technical problems in related technologies of calculating lane change freedom and assisting lane change models through kinematic models containing weight coefficients, which are complex in parameter adjustment, not conducive to engineering application implementation, and only consider the safety of the rear vehicle.

[0005] The first aspect of the present application provides a method for detecting vehicle lane changes, comprising the following steps: detecting a user's driving intention; when it is detected that the driving intention is a lane change intention, generating a minimum safety distance between the vehicle and the preceding vehicle using a pre-trained kinematic model, and generating an expected safety distance of the target lane using a pre-trained following model; and comparing the minimum safety distance and the expected safety distance with the corresponding actual distances, and issuing a vehicle lane change warning when the minimum safety distance or the expected safety distance is less than the corresponding actual distance.

[0006] Optionally, in one embodiment of the present application, the use of a pre-trained kinematic model to generate the minimum safe distance between the vehicle and the vehicle in front includes: obtaining the lateral acceleration, lateral velocity and displacement formula of the vehicle, calculating the collision time, collision angle and equivalent deflection angle of the colliding wheel during lane change, so as to obtain the minimum safe distance.

[0007] Optionally, in one embodiment of the present application, the calculation formula of the minimum safety distance is:

[0008]

[0009] Among them, a M (t), a L(t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0010] Optionally, in one embodiment of the present application, the calculation formula of the car-following model is:

[0011]

[0012] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0013] Optionally, in one embodiment of the present application, the expected safety distance of the target lane includes the expected safety distance between the vehicle and the preceding vehicle in the adjacent lane and the expected safety distance between the vehicle and the following vehicle in the adjacent lane.

[0014] The second aspect of the present application provides a vehicle lane change safety detection device, including: a detection module for detecting a user's driving intention; a generation module for generating a minimum safety distance between the current vehicle and the preceding vehicle using a pre-trained kinematic model when detecting that the driving intention is a lane change intention, and generating an expected safety distance of the target lane using a pre-trained following model; and a warning module for comparing the minimum safety distance and the expected safety distance with the corresponding actual distance, and issuing a vehicle lane change warning when the minimum safety distance or the expected safety distance is less than the corresponding actual distance.

[0015] Optionally, in one embodiment of the present application, the generation module includes: a calculation unit, used to obtain the lateral acceleration, lateral velocity and displacement formula of the vehicle, calculate the collision time, collision angle and equivalent deflection angle of the colliding wheel during lane change, so as to obtain the minimum safety distance.

[0016] Optionally, in one embodiment of the present application, the calculation formula of the minimum safety distance is:

[0017]

[0018] Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M(0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0019] Optionally, in one embodiment of the present application, the calculation formula of the car-following model is:

[0020]

[0021] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0022] Optionally, in one embodiment of the present application, the expected safety distance of the target lane includes the expected safety distance between the vehicle and the preceding vehicle in the adjacent lane and the expected safety distance between the vehicle and the following vehicle in the adjacent lane.

[0023] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle lane change safety detection method as described in the above embodiment.

[0024] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle lane change safety detection method as described in the above embodiment.

[0025] When a user's lane-changing intention is detected, the present embodiment can generate a minimum safe distance between the vehicle and the preceding vehicle using a kinematic model, and a desired safe distance for the target lane using a following model. If the distance is insufficient for the vehicle to change lanes, a lane-changing warning will be issued. By comparing the minimum safe distance, the desired safe distance, and the actual distance, lane-changing safety is increased, and aggressive driving is avoided. Furthermore, the weighting is simplified in the integrated decision-making and safety assessment, eliminating the need for complex parameter tuning and facilitating engineering applications. This solves the technical problem in related technologies of using kinematic models containing weight coefficients to calculate lane-changing freedom and assisted lane-changing models, resulting in complex parameter tuning that is unfavorable for engineering applications and insufficient consideration of the safety of the vehicle behind.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flowchart of a vehicle lane change safety detection method provided according to an embodiment of the present application;

[0029] Figure 2 A schematic diagram of positional relationships during a vehicle lane change process in a vehicle lane change safety detection method according to an embodiment of the present application;

[0030] Figure 3 This is a flow chart of a vehicle lane change safety detection method according to one embodiment of the present application;

[0031] Figure 4 Schematic diagram of the structure of a vehicle lane change safety detection device provided according to an embodiment of the present application;

[0032] Figure 5 A schematic structural diagram of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] The following describes a vehicle lane change safety detection method, device, vehicle, and storage medium according to an embodiment of the present application with reference to the accompanying drawings. In response to the technical problems mentioned in the background art center above, which use kinematic models containing weight coefficients to calculate lane change freedom and assisted lane change models, parameter tuning is complex, not conducive to engineering application implementation, and only considers the safety of the rear vehicle. The present application provides a vehicle lane change safety detection method. In this method, when a user's lane change intention is detected, a minimum safe distance between the vehicle and the preceding vehicle is generated using a kinematic model, and a desired safe distance of the target lane is generated using a following model. If the distance is insufficient, a lane change warning is issued. By comparing the minimum safe distance, the desired safe distance, and the actual distance, the lane change safety is increased, and aggressive driving is avoided. Furthermore, the weighting is simple to adjust in the integrated decision-making and safety assessment, eliminating the need for complex parameter tuning, facilitating engineering application implementation. Thus, the present application solves the technical problems in the related art, which use kinematic models containing weight coefficients to calculate lane change freedom and assisted lane change models, parameter tuning is complex, not conducive to engineering application implementation, and only considers the safety of the rear vehicle.

[0035] Specifically, Figure 1 A flowchart of a vehicle lane change safety detection method provided in an embodiment of the present application.

[0036] like Figure 1 As shown, the vehicle lane change safety detection method includes the following steps:

[0037] In step S101 , the user's driving intention is detected.

[0038] During the actual implementation process, the embodiments of the present application can obtain information from devices such as the steering wheel, turn signal, pedal, camera or GPS, and then obtain the user's driving intention. For example, when the camera or GPS detects that the current vehicle is not at an intersection, and the steering wheel is turned or the turn signal is on, it can be detected that the user's current driving intention is to change lanes.

[0039] In addition, the embodiment of the present application can also determine whether a lane change is safe by setting corresponding instructions and when the user issues a lane change instruction.

[0040] In step S102 , when a lane change intention is detected, a pre-trained kinematic model is used to generate a minimum safe distance between the host vehicle and the preceding vehicle, and a pre-trained car-following model is used to generate a desired safe distance in the target lane.

[0041] As a possible implementation method, the embodiment of the present application can use a pre-trained kinematic model to generate the minimum safe distance between the vehicle and the vehicle in front when it detects that the user's driving intention is to change lanes, and then use the pre-trained following model to generate the expected safe distance of the target lane, which is convenient for subsequent comparison with the actual distance to ensure the safety of the vehicle changing lanes.

[0042] It should be noted that the establishment of the kinematic model and the car-following model will be explained in detail below.

[0043] Optionally, in one embodiment of the present application, a pre-trained kinematic model is used to generate the minimum safe distance between the vehicle and the vehicle in front, including: obtaining the lateral acceleration, lateral velocity and displacement formula of the vehicle, calculating the collision time, collision angle and equivalent deflection angle of the collision wheel when changing lanes, to obtain the minimum safe distance.

[0044] Here, the kinematic model is explained in detail.

[0045] Specifically, the embodiment of the present application can use the lateral acceleration model at home, using the variable a lat(t) represents the lateral acceleration of the vehicle during the lane change process. Based on relevant technologies and for the sake of simplicity of calculation, the embodiment of the present application can use a simple and practical lateral acceleration model, that is, the lateral acceleration expression is set to a sinusoidal characteristic function form of time t, as shown below:

[0046]

[0047] Where D represents the total lateral displacement of the vehicle after the vehicle completes the lane change. Based on the above reasonable assumptions, its value can be approximated to the width of a lane, t log is the time it takes for the longitudinal velocity and displacement of the vehicle to adjust before applying lateral acceleration, t lat The duration for which the vehicle applies lateral acceleration during lane change.

[0048] From the acceleration model, we can know that during the first half of the time when the vehicle changes lanes with lateral acceleration, that is, when t <t log +t lat / 2, the lateral acceleration a lat (t) is a positive value, and in the second half of the lane change time, that is, when t log +t lat / 2 <t<t log +t lat When the lateral acceleration a lat (t) is a negative value, which also means that during the lane change process, in order to ensure that the vehicle's lateral velocity is zero at the beginning and end of the lane change, the user of the lane-changing vehicle should first accelerate the vehicle to enable it to move sideways smoothly. However, in order to prevent the vehicle from deviating from the target lane after completing the lane change, appropriate deceleration must be performed in the second half of the lane change process to ensure the safety of the lane change and that the vehicle's lateral velocity is zero at the end of the lane change.

[0049] Furthermore, the embodiment of the present application can obtain the expressions of the lateral velocity and lateral displacement of the vehicle during the lane change process by continuously performing the first and second integrations of the "lateral acceleration model", as shown below:

[0050] When a vehicle is changing lanes, the expression for the lateral velocity is:

[0051]

[0052] The expression of the lateral displacement of the vehicle during lane change is:

[0053]

[0054] From the above formulas, we can respectively obtain the acceleration, velocity and displacement of the vehicle at any time point t during the lane change process.

[0055] To simplify the calculation, the embodiment of the present application may assume that the vehicle starts preparing to change lanes from time t=0, and after adjusting and preparing the longitudinal speed and displacement within time, from time t=t log Start to change lanes by applying lateral acceleration according to the “acceleration model”. At time t log <t<t log +t lat / 2, the lateral velocity of the vehicle gradually increases from zero to the maximum in the positive direction, and then at time t log +t lat / 2 <t<t log +t lat The lateral velocity of the vehicle decreases gradually from the maximum in the positive direction to zero. Therefore, after the vehicle completes the lane change, its lateral displacement no longer changes.

[0056] Optionally, in one embodiment of the present application, the calculation formula for the minimum safety distance is:

[0057]

[0058] Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0059] In the actual implementation process, Figure 2 As shown, this is a position relationship diagram of vehicle M during lane change.

[0060] In this embodiment of the present application, t0 is the initial time when the vehicle begins to change lanes, S(0) is the initial distance between vehicle M and vehicle L (the preceding vehicle in the lane), that is, the straight-line distance between the front of vehicle M and the rear of vehicle L. S(t) represents the distance between vehicle M and vehicle L at any time t during the lane change process, and angle θ is the angle between the tangent direction of vehicle M's driving trajectory and the longitudinal direction of the lane boundary line during the lane change process.

[0061] For ease of calculation, the left front corner point P of vehicle M is selected as the reference point. Combined with the knowledge of vehicle kinematics, the distance S(t) between vehicle M and vehicle L at any time t during the lane change process can be expressed as:

[0062]

[0063] Among them, a M (t), aL (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0064] Analyzing the above formula, when the embodiment of the present application satisfies S(t)>0, it can be guaranteed that vehicle M will not experience any form of collision at any time t during the lane change process. Therefore, combining the knowledge of geometry and kinematics, to ensure that no collision occurs between the two vehicles, the distance S(0) at the initial moment of the lane change can be calculated as follows:

[0065]

[0066] Where θ is the angle between the tangent direction of the trajectory of vehicle M and the lane boundary during the lane change process, which can be derived from the following formula:

[0067]

[0068] Among them, x M (t), v M (t) are the longitudinal displacement and longitudinal velocity of the lane-changing vehicle M, y M (t), v lat (t) are the lateral displacement and lateral velocity of the lane-changing vehicle M, respectively.

[0069] Therefore, it can be seen from the above formula that the angle θ(t) of the vehicle at any time can be derived from the magnitude of its lateral velocity and longitudinal velocity.

[0070] According to the above formula, S0=S(0) can be obtained.

[0071] Optionally, in one embodiment of the present application, the calculation formula of the car-following model is:

[0072]

[0073] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0074] Here, the car-following model is explained in detail.

[0075] In the embodiment of the present application, the longitudinal car-following model formula may be as follows:

[0076]

[0077] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0078] Furthermore, the embodiment of the present application can calculate the safety distances S1 and S2 between the vehicle and the front and rear vehicles in the adjacent lane using the above formula.

[0079] Optionally, in one embodiment of the present application, the expected safety distance of the target lane includes the expected safety distance between the vehicle and the preceding vehicle in the adjacent lane and the expected safety distance between the vehicle and the following vehicle in the adjacent lane.

[0080] Specifically, the target lane is the target lane for the vehicle to change lanes. The expected safety distance of the target lane may include the expected safety distance between the vehicle and the vehicle in front in the adjacent lane and the expected safety distance between the vehicle and the vehicle behind in the adjacent lane, thereby ensuring the safety of the vehicle's lane change and avoiding traffic accidents such as rear-end collisions or collisions.

[0081] In step S103 , the minimum safety distance and the expected safety distance are compared with the corresponding actual distances, and a vehicle lane change warning is issued when the minimum safety distance or the expected safety distance is smaller than the corresponding actual distance.

[0082] During actual execution, the embodiment of the present application can compare the real-time acquired s0, s1, and s2 with S0, S1, and S2. If the three conditions of s0>S0, s1>S1, and s2>S2 are met at the same time, it is considered that a safe lane change can be performed; if one of the conditions is not met, it is necessary to continue to determine the lane change intention and issue a vehicle lane change warning to promptly warn the user and avoid traffic accidents. In addition to referring to the minimum safe distance as a lane change safety determination condition, the embodiment of the present application also adds a following model as an adjacent lane safety determination condition, thereby improving the vehicle lane change safety determination condition, so that during the lane change process, the vehicle and the adjacent vehicle drive smoothly, avoiding the problem of aggressive driving, and solving the problem of complex weight adjustment in the integration of decision-making and safety judgment, avoiding complex parameter adjustment, and facilitating engineering applications.

[0083] The following combination Figure 2 and Figure 3 As shown, the working principle of the vehicle lane change safety detection method of the embodiment of the present application is described in detail with a specific embodiment.

[0084] like Figure 3 As shown, the embodiment of the present application may include the following steps:

[0085] Step S301: Lane change intention instruction. In actual execution, the embodiment of the present application can perform a lane change safety determination when detecting that the current user has a lane change intention or when receiving a lane change intention instruction.

[0086] Step S302: Real-time speed, acceleration, and distance. Specifically, the embodiment of the present application can use the horizontal acceleration model at home, using the variable a lat (t) represents the lateral acceleration of the vehicle during the lane change process. Based on relevant technologies and for the sake of simplicity of calculation, the embodiment of the present application can use a simple and practical lateral acceleration model, that is, the lateral acceleration expression is set to a sinusoidal characteristic function form of time t, as shown below:

[0087]

[0088] Where D represents the total lateral displacement of the vehicle after the vehicle completes the lane change. Based on the above reasonable assumptions, its value can be approximated to the width of a lane, t log is the time it takes for the longitudinal velocity and displacement of the vehicle to adjust before applying lateral acceleration, t lat The duration for which the vehicle applies lateral acceleration during lane change.

[0089] From the acceleration model, we can know that during the first half of the time when the vehicle changes lanes with lateral acceleration, that is, when t <t log +t lat / 2, the lateral acceleration a lat (t) is a positive value, and in the second half of the lane change time, that is, when t log +t lat / 2 <t<t log +t lat When the lateral acceleration a lat (t) is a negative value, which also means that during the lane change process, in order to ensure that the vehicle's lateral velocity is zero at the beginning and end of the lane change, the user of the lane-changing vehicle should first accelerate the vehicle to enable it to move sideways smoothly. However, in order to prevent the vehicle from deviating from the target lane after completing the lane change, appropriate deceleration must be performed in the second half of the lane change process to ensure the safety of the lane change and that the vehicle's lateral velocity is zero at the end of the lane change.

[0090] Furthermore, the embodiment of the present application can obtain the expressions of the lateral velocity and lateral displacement of the vehicle during the lane change process by continuously performing the first and second integrations of the "lateral acceleration model", as shown below:

[0091] When a vehicle is changing lanes, the expression for the lateral velocity is:

[0092]

[0093] The expression of the lateral displacement of the vehicle during lane change is:

[0094]

[0095] From the above formulas, we can respectively obtain the acceleration, velocity and displacement of the vehicle at any time point t during the lane change process.

[0096] To simplify the calculation, the embodiment of the present application may assume that the vehicle starts preparing to change lanes from time t=0, and after adjusting and preparing the longitudinal speed and displacement within time, from time t=t log Start to change lanes by applying lateral acceleration according to the “acceleration model”. At time t log <t<t log +t lat / 2, the lateral velocity of the vehicle gradually increases from zero to the maximum in the positive direction, and then at time t log +t lat / 2 <t<t log +t lat The lateral velocity of the vehicle decreases gradually from the maximum in the positive direction to zero. Therefore, after the vehicle completes the lane change, its lateral displacement no longer changes.

[0097] Step S303: Calculate the minimum safety distance and the expected safety distance. Figure 2 As shown, this is a position relationship diagram of vehicle M during lane change.

[0098] In this embodiment of the present application, t0 is the initial time when the vehicle begins to change lanes, S(0) is the initial distance between vehicle M and vehicle L (the preceding vehicle in the lane), that is, the straight-line distance between the front of vehicle M and the rear of vehicle L. S(t) represents the distance between vehicle M and vehicle L at any time t during the lane change process, and angle θ is the angle between the tangent direction of vehicle M's driving trajectory and the longitudinal direction of the lane boundary line during the lane change process.

[0099] For ease of calculation, the left front corner point P of vehicle M is selected as the reference point. Combined with the knowledge of vehicle kinematics, the distance S(t) between vehicle M and vehicle L at any time t during the lane change process can be expressed as:

[0100]

[0101] Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M(0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0102] Analyzing the above formula, when the embodiment of the present application satisfies S(t)>0, it can be guaranteed that vehicle M will not experience any form of collision at any time t during the lane change process. Therefore, combining the knowledge of geometry and kinematics, to ensure that no collision occurs between the two vehicles, the distance S(0) at the initial moment of the lane change can be calculated as follows:

[0103]

[0104] Where θ is the angle between the tangent direction of the trajectory of vehicle M and the lane boundary during the lane change process, which can be derived from the following formula:

[0105]

[0106] Among them, x M (t), v M (t) are the longitudinal displacement and longitudinal velocity of the lane-changing vehicle M, y M (t), v lat (t) are the lateral displacement and lateral velocity of the lane-changing vehicle M, respectively.

[0107] Therefore, it can be seen from the above formula that the angle θ(t) of the vehicle at any time can be derived from the magnitude of its lateral velocity and longitudinal velocity.

[0108] According to the above formula, S0=S(0) can be obtained.

[0109] In the embodiment of the present application, the longitudinal car-following model formula may be as follows:

[0110]

[0111] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0112] Furthermore, the embodiment of the present application can calculate the safety distances S1 and S2 between the vehicle and the front and rear vehicles in the adjacent lane using the above formula.

[0113] Step S304: Distance comparison. During actual execution, the embodiments of the present application may compare the real-time acquired s0, s1, and s2 with S0, S1, and S2. If the three conditions of s0>S0, s1>S1, and s2>S2 are simultaneously met, it is considered that a safe lane change can be performed. If any of the conditions is not met, it is necessary to continue to determine the lane change intention and issue a lane change warning to provide a timely warning to the user to avoid traffic accidents.

[0114] Step S305: Safe lane change.

[0115] According to the vehicle lane change safety detection method proposed in the embodiment of the present application, when a user's lane change intention is detected, a kinematic model can be used to generate the minimum safe distance between the vehicle and the preceding vehicle, and a car-following model can be used to generate the desired safe distance of the target lane. If the distance is insufficient for the vehicle to change lanes, a lane change warning will be issued. By comparing the minimum safe distance, the desired safe distance, and the actual distance, the safety of lane changes is increased, aggressive driving is avoided, and weight setting is simple in the integrated decision-making and safety assessment, eliminating the need for complex parameter setting and facilitating engineering applications. This solves the technical problem in related technologies of using kinematic models containing weight coefficients to calculate lane change freedom and assisted lane change models, resulting in complex parameter setting that is not conducive to engineering application, and insufficient consideration of the safety of the vehicle behind.

[0116] Next, a vehicle lane change safety detection device proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0117] Figure 4 4 is a block diagram of a vehicle lane change safety detection device according to an embodiment of the present application.

[0118] like Figure 4 As shown, the vehicle lane change safety detection device 10 includes: a detection module 100, a generation module 200 and a warning module 300.

[0119] Specifically, the detection module 100 is used to detect the user's driving intention.

[0120] The generation module 200 is used to generate the minimum safe distance between the vehicle and the preceding vehicle using a pre-trained kinematic model when a lane change intention is detected, and to generate the expected safe distance of the target lane using a pre-trained following model.

[0121] The warning module 300 is used to compare the minimum safety distance and the expected safety distance with the corresponding actual distances, and issue a lane change warning when the minimum safety distance or the expected safety distance is less than the corresponding actual distance.

[0122] Optionally, in one embodiment of the present application, the generation module 200 includes: a calculation unit.

[0123] The calculation unit is used to obtain the lateral acceleration, lateral velocity and displacement formula of the vehicle, calculate the collision time, collision angle and equivalent deflection angle of the collision wheel when changing lanes, and obtain the minimum safe distance.

[0124] Optionally, in one embodiment of the present application, the calculation formula for the minimum safety distance is:

[0125]

[0126] Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M.

[0127] Optionally, in one embodiment of the present application, the calculation formula of the car-following model is:

[0128]

[0129] Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

[0130] Optionally, in one embodiment of the present application, the expected safety distance of the target lane includes the expected safety distance between the vehicle and the preceding vehicle in the adjacent lane and the expected safety distance between the vehicle and the following vehicle in the adjacent lane.

[0131] It should be noted that the above explanation of the embodiment of the vehicle lane change safety detection method is also applicable to the vehicle lane change safety detection device of this embodiment, and will not be repeated here.

[0132] According to the vehicle lane change safety detection device proposed in the embodiment of the present application, when a user's intention to change lanes is detected, the device can generate the minimum safe distance between the vehicle and the preceding vehicle through a kinematic model, and the expected safe distance of the target lane through a following model. If the distance is insufficient for the vehicle to change lanes, a lane change warning will be issued. By comparing the minimum safe distance, the expected safe distance, and the actual distance, the safety of lane changes is increased, and aggressive driving is avoided. In addition, the weight setting is simple in the integrated decision-making and safety assessment, eliminating the need for complex parameter setting, making it easy to implement in engineering applications. This solves the technical problem in related technologies of using kinematic models containing weight coefficients to calculate lane change freedom and assisted lane change models, resulting in complex parameter setting, which is not conducive to engineering application implementation, and insufficient consideration of the safety of the rear vehicle.

[0133] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0134] Memory 501 , processor 502 , and computer programs stored in the memory 501 and executable on the processor 502 .

[0135] When the processor 502 executes the program, the vehicle lane change safety detection method provided in the above embodiment is implemented.

[0136] Furthermore, the vehicle further comprises:

[0137] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0138] The memory 501 is used to store computer programs that can be run on the processor 502 .

[0139] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0140] If the memory 501, processor 502, and communication interface 503 are implemented independently, the communication interface 503, memory 501, and processor 502 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0141] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0142] The processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0143] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned vehicle lane change safety detection method.

[0144] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0145] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0146] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0147] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0148] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0149] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0150] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0151] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A vehicle lane change safety detection method, characterized in that: The following steps are involved: Detecting the user's driving intention; When the driving intention is detected as a lane change intention, a pre-trained kinematic model is used to generate a minimum safe distance between the host vehicle and the preceding vehicle, and a pre-trained car-following model is used to generate a desired safe distance in the target lane; as well as comparing the minimum safety distance and the expected safety distance with the corresponding actual distances, and issuing a lane change warning when the minimum safety distance or the expected safety distance is less than the corresponding actual distance; Taking the left front corner point P of vehicle M as the reference point and combining the knowledge of vehicle kinematics, the distance S(t) between vehicle M and vehicle L at any time t during the lane change process is expressed as: Analyzing the above formula, when S(t)>0, it is guaranteed that vehicle M will not have any form of collision at any time t during the lane change process. Combining the knowledge of geometry and kinematics, in order to ensure that there is no collision between the two vehicles, the distance S(0) at the initial moment of lane change, that is, the calculation formula of the minimum safe distance, is: Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M; θ is derived from the following formula: Among them, x M (t), v M (t) are the longitudinal displacement and longitudinal velocity of the lane-changing vehicle M, y M (t), v lat (t) are the lateral displacement and lateral velocity of the lane-changing vehicle M, respectively; The calculation formula of the car-following model is: Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

2. The method according to claim 1, characterized in that The method of generating the minimum safe distance between the vehicle and the preceding vehicle by using the pre-trained kinematic model includes: The lateral acceleration, lateral velocity and displacement formula of the vehicle are obtained, and the collision time, collision angle and equivalent deflection angle of the collision wheel of the lane change are calculated to obtain the minimum safe distance.

3. The method according to claim 1, characterized in that The expected safety distance of the target lane includes the expected safety distance between the host vehicle and the preceding vehicle in the adjacent lane and the expected safety distance between the host vehicle and the following vehicle in the adjacent lane.

4. A vehicle lane change safety detection device, characterized in that: include: A detection module, used to detect the user's driving intention; a generation module for generating a minimum safe distance between the vehicle and the preceding vehicle using a pre-trained kinematic model when detecting that the driving intention is a lane change intention, and generating a desired safe distance in the target lane using a pre-trained car-following model; as well as a warning module, configured to compare the minimum safety distance and the expected safety distance with the corresponding actual distances, and issue a lane change warning when the minimum safety distance or the expected safety distance is less than the corresponding actual distance; Taking the left front corner point P of vehicle M as the reference point and combining the knowledge of vehicle kinematics, the distance S(t) between vehicle M and vehicle L at any time t during the lane change process is expressed as: Analyzing the above formula, when S(t)>0, it is guaranteed that vehicle M will not have any form of collision at any time t during the lane change process. Combining the knowledge of geometry and kinematics, in order to ensure that there is no collision between the two vehicles, the distance S(0) at the initial moment of lane change, that is, the calculation formula of the minimum safe distance, is: Among them, a M (t), a L (t) are the longitudinal accelerations of the lane-changing vehicle M and the preceding vehicle L, v M (0), v L (0) are the initial velocities of the lane-changing vehicle M and the preceding vehicle L, θ is the angle between the tangent direction of the driving trajectory of vehicle M and the horizontal line of the lane during the lane change process, and W M is the width of the lane-changing vehicle M; θ is derived from the following formula: Among them, x M (t), v M (t) are the longitudinal displacement and longitudinal velocity of the lane-changing vehicle M, y M (t), v lat (t) are the lateral displacement and lateral velocity of the lane-changing vehicle M, respectively; The calculation formula of the car-following model is: Among them, s i is the expected vehicle distance, s0 is the static safety distance, T is the safe headway, v i is the speed of vehicle i, Δv i is the speed difference between vehicle i and the preceding vehicle, a is the maximum acceleration, and b is the comfortable deceleration.

5. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle lane change safety detection method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle lane change safety detection method according to any one of claims 1 to 3.

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