Lane changing prompting method, device, equipment and medium

Abstract

The application discloses a lane changing prompt method, device, equipment and medium. The method comprises the following steps: acquiring vehicle condition information around a vehicle; outputting a lane changing prompt voice when the vehicle condition information meets a lane changing condition; and outputting a simplified sound effect within a first time length after the output of the lane changing prompt voice, if new vehicle condition information of the vehicle meets the lane changing condition. The playing time length of the simplified sound effect is shorter than that of the lane changing prompt voice. When the vehicle condition information meets the lane changing condition, the driving system automatically broadcasts the voice of the lane changing prompt. Within a certain time after the broadcasting of the lane changing prompt voice, if the new vehicle condition information of the vehicle meets the lane changing condition, only the simplified sound effect with a time length shorter than that of the lane changing prompt voice is played, so that the lane changing prompt effect of the autonomous vehicle is improved.

Description

Technical Field

[0001] This disclosure generally relates to the field of autonomous driving technology, and more particularly to a lane change warning method, apparatus, device, and medium. Background Technology

[0002] Lane changing is an indispensable part of vehicle operation and is particularly important in the field of autonomous driving. In existing autonomous driving technologies, vehicle autonomous driving systems use multiple sensors installed inside the vehicle to collect vehicle driving information and information about the surrounding environment to determine whether to enter a lane-changing state and provide lane change prompts.

[0003] Currently, autonomous driving systems issue a warning every time a lane change situation is entered. However, due to the complexity and variability of vehicle driving conditions, the environmental information collected by multiple sensors is often constantly changing, leading to the driving system making repetitive warnings. Therefore, the technical problem of poor lane change warning effectiveness still exists for autonomous vehicles. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a lane change warning method, device, equipment and medium that changes the lane change warning method according to vehicle condition information, thereby greatly improving the lane change warning effect of autonomous vehicles.

[0005] Firstly, a lane change notification method is provided, which includes:

[0006] Obtain vehicle condition information around the vehicle, and output lane change prompt voice when the vehicle condition information meets the lane change conditions;

[0007] Within the first duration after the lane change prompt voice is output, if the vehicle's new vehicle status information meets the lane change conditions, a simplified sound effect is output; the playback duration of the simplified sound effect is shorter than the playback duration of the lane change prompt voice.

[0008] In this application, the vehicle's driving conditions are first calculated in real time to determine if they meet the lane-changing requirements. When the driving conditions meet the requirements, the driving system automatically plays a lane-changing prompt voice message. Within a short period after the prompt voice message is played, if new vehicle information meets the requirements, a simplified sound effect shorter than the prompt voice message is played. Unlike existing technologies that play a lane-changing prompt voice message every time the requirements are met, this application introduces a simplified sound effect for a short period after the prompt voice message is played, significantly reducing the technical problem of poor prompting effect caused by repeated playback of the prompt voice message, thereby improving the lane-changing prompting effect of autonomous vehicles.

[0009] Secondly, a lane change warning device is provided, the device comprising:

[0010] The first output unit is used to acquire vehicle condition information around the vehicle and output a lane change prompt voice when the vehicle condition information meets the lane change conditions.

[0011] The second output unit is used to output a simplified sound effect within the first duration after the lane change prompt voice is output. If the new vehicle condition information meets the lane change conditions, the simplified sound effect will play for a shorter duration than the lane change prompt voice.

[0012] Thirdly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in any one of the first aspects above.

[0013] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the method described in any one of the first aspects above.

[0014] Fifthly, a computer program product is provided, which includes instructions that, when executed, perform the method described in any one of the first aspects.

[0015] Additional aspects and advantages 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. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0017] Figure 1 This is the system architecture of an embodiment of this application;

[0018] Figure 2 This is a flowchart illustrating the lane change notification method according to an embodiment of this application;

[0019] Figure 3 This is a schematic diagram illustrating the process of lane change notification for autonomous vehicles according to an embodiment of this application;

[0020] Figure 4 This is a block diagram of a lane change warning device according to an embodiment of this application;

[0021] Figure 5 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0022] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This describes the application scenario to which the embodiments of this application are applicable. (See references.) Figure 1 This application scenario includes a vehicle 10, multiple sensors 20 mounted on the vehicle, and an in-vehicle terminal 30. The vehicle 10 can be an autonomous driving vehicle. The multiple sensors 20 are located in the engine compartment at the front of the vehicle 10 and can collect vehicle status information during driving and transmit it to the autonomous driving system of the vehicle 10. The in-vehicle terminal 30 is located inside the vehicle 10 and can provide voice or visual reminders to the user; for example, it can provide a voice reminder to the user before the vehicle changes lanes.

[0025] In practice, the multi-sensor 20 can transmit the collected vehicle condition information to the autonomous driving system of the vehicle 10. The autonomous driving system can determine whether the vehicle 10 has the conditions to change lanes based on the specific vehicle condition information. When the conditions for changing lanes are met, the on-board terminal 30 receives the lane change information and can broadcast a lane change reminder voice to the user, such as "You are about to change lanes."

[0026] It should be noted that the lane-changing operation of an autonomous vehicle is completed by the vehicle's internal autonomous driving system. The voice prompts from the in-vehicle terminal are only to inform the user that the vehicle's status is about to change, so as to avoid causing panic to the user due to sudden changes in the vehicle's status.

[0027] The aforementioned vehicle 10 is an autonomous driving vehicle, and its level of driving automation can be specifically divided into emergency driving assistance, partial driving assistance, combined driving assistance, conditional autonomous driving, advanced autonomous driving, and fully autonomous driving. The multi-sensor 20, as an important component for the autonomous driving vehicle to perceive its environment, can specifically include ultrasonic radar, millimeter-wave radar, lidar, single / dual / tri-lens cameras, surround-view cameras, and night vision equipment, etc.

[0028] Currently, every time an autonomous vehicle changes lanes, the onboard terminal provides the user with the same voice prompt, such as "Changing lanes is imminent." However, due to the complexities of actual driving conditions, the onboard terminal is prone to repeating the same message. For example, if a vehicle changes lanes 10 times within three minutes, the onboard terminal will also make the same announcement 10 times within those three minutes. Therefore, the technical issue of ineffective lane change notifications for users during autonomous driving remains.

[0029] Based on this, this application proposes a lane change warning method, device, equipment, and medium that changes the lane change warning method according to vehicle condition information, thereby improving the lane change warning effect of autonomous vehicles.

[0030] Figure 2 This is a flowchart illustrating a lane change warning method provided in an embodiment of this application. The executing entity of this method can be the vehicle 10 described above. Figure 2 As shown, the method includes the following steps:

[0031] 201. Obtain vehicle condition information around the vehicle, and output lane change prompt voice when the vehicle condition information meets the lane change conditions;

[0032] This application can determine in real time whether the vehicle's condition information during driving meets the conditions for lane changing, so as to determine whether to trigger a lane change prompt voice based on the determination result. The vehicle can be an autonomous vehicle with an autonomous driving system, such as the vehicle 10 mentioned above.

[0033] In one possible implementation, vehicle condition information surrounding the vehicle can be acquired using multiple sensors inside the vehicle. These multiple sensors can be the aforementioned multiple sensor 20; the vehicle condition information can include the vehicle's own driving information and the traffic conditions around the vehicle, such as vehicle speed, distance to other vehicles, and number of lanes. Specifically, the traffic conditions around the vehicle can be acquired using video cameras, radar sensors, and laser rangefinders.

[0034] It should be noted that lane changing operations can be triggered based on the number of lanes in the vehicle status information. Specifically, lane changing can be triggered when "lane changing ready" is selected.

[0035] In one possible implementation, it can be determined whether the vehicle condition information meets the lane change conditions by judging the vehicle spacing (gap) in the vehicle condition information.

[0036] For example, vehicle condition information collected by multiple in-vehicle sensors can be transmitted to the in-vehicle autonomous driving system. The prediction module in the autonomous driving system performs real-time calculations on the vehicle condition information to determine whether lane-changing conditions are met. Specifically, it can determine the degree to which lane-changing conditions are met by predicting the trajectory overlap rate between the vehicle and other vehicles in the lane it is about to enter. The trajectory overlap rate is inversely proportional to the degree to which lane-changing conditions are met; the higher the trajectory overlap rate, the lower the degree to which lane-changing conditions are met.

[0037] In one possible implementation, the lane change prompt voice can be played by an in-vehicle terminal. This in-vehicle terminal can be controlled by the vehicle's autonomous driving system and can be an in-vehicle multimedia display screen, such as the in-vehicle terminal 30 mentioned above. The lane change prompt voice can be a pre-recorded phrase, such as "Preparing to change lanes" or "About to change lanes consecutively."

[0038] 202. Within the first duration after the lane change prompt voice is output, if the vehicle's new vehicle status information meets the lane change conditions, a simplified sound effect is output; the playback duration of the simplified sound effect is less than the playback duration of the lane change prompt voice.

[0039] This application simplifies lane change prompts during vehicle lane changes and enhances human-computer interaction by coloring the lane to be entered and displaying parking space frames on the in-vehicle multimedia display screen, thereby improving the lane change prompt effect of autonomous vehicles.

[0040] It should be noted that the vehicle's condition information changes in real time during the driving process, so the degree to which lane change conditions are met is also judged in real time.

[0041] In one possible implementation, the initial duration could be a period of time following the playback of the lane change notification voice message. During this period, when new vehicle information again meets the lane change conditions, the in-vehicle audio-visual equipment can play a simplified lane change notification sound effect. This simplified sound effect could be a simplified notification tone such as "ding" or "dong." It should be noted that the initial duration can be determined differently depending on the specific lane change situation.

[0042] Optionally, after the lane change prompt voice is played, due to the continuous changes in vehicle information, the vehicle may execute the lane change prompt voice command to change lanes, or it may not execute the command and continue to drive in the current lane.

[0043] Optionally, as vehicle condition information changes in real time and the prediction module in the autonomous driving system performs real-time calculations on the vehicle condition information, the vehicle's lane change type will also change. For example, when vehicles on the left or right sides obstruct the vehicle from changing lanes, the vehicle's lane change type can become NLC (Navigate Lane Change); when the prediction module calculates that the speed of the vehicle in front is less than 10% of the preset minimum speed, the vehicle's lane change type can become ULC (Overtake Slower Vehicle); when multiple sensors detect a special situation in the rightmost lane ahead, the vehicle's lane change type can become RMLC (Leave the Rightmost Lane).

[0044] In one possible implementation, when a lane change operation is triggered, the on-board terminal can highlight the lane the vehicle is expected to enter, thus indicating that the vehicle is about to enter lane change mode. When the lane change operation is executed, while highlighting the lane the vehicle is expected to enter, the on-board terminal can also render a parking space bounding box on the lane the vehicle is expected to enter, thus indicating that the vehicle has begun to change lanes.

[0045] In the method provided in this application embodiment, the vehicle's driving conditions are first calculated in real time to determine whether they meet the lane-changing requirements. When the driving conditions meet the requirements, the driving system automatically plays a lane-changing prompt voice message. Within a certain period after the lane-changing prompt voice message is played, if new vehicle condition information meets the lane-changing requirements, a simplified sound effect shorter than the lane-changing prompt voice message is played. Unlike existing technologies that play a lane-changing prompt voice message every time the lane-changing requirements are met, this application introduces a simplified sound effect for a period after the lane-changing prompt voice message is played, greatly reducing the technical problem of poor prompting effect caused by repeated playback of the lane-changing prompt voice message, thereby improving the lane-changing prompting effect of autonomous vehicles.

[0046] In another embodiment of this application, a specific method for determining the first duration is also provided. For example, the first duration is related to the vehicle's lane-changing mode.

[0047] In one possible implementation, the specific duration of the first time interval can be determined in relation to the vehicle's lane-changing mode. The lane-changing mode can characterize the type of lane change the vehicle is making under the current traffic conditions. The lane-changing mode can be an instantaneous lane-changing type or a lane-changing type that continues for a period of time. For example, the lane-changing mode can be continuous lane changing, discontinuous lane changing, navigation lane changing, and lane changing to overtake a slower vehicle, etc.

[0048] The method provided in this application describes a way to determine the first duration. This lays the foundation for subsequent vehicles to determine the specific playback time of lane change prompt voice and simplified lane change sound effects based on the first duration, avoiding frequent voice prompts and allowing users to receive necessary reminders.

[0049] In another embodiment of this application, a specific method for determining the first duration in a discontinuous lane-changing mode is also provided. For example, if the lane-changing mode is a discontinuous lane-changing mode, the first duration is a preset duration.

[0050] In one possible implementation, when the vehicle's lane-changing mode is discontinuous lane changing, the first duration can be a pre-set fixed duration. The lane-changing prompt voice for discontinuous lane changing can be "Preparing to change lanes".

[0051] It should be noted that discontinuous lane changing can be different types of lane changing operations performed by a vehicle within the same lane.

[0052] In the method provided in this application embodiment, it is specified that the first duration in the case of discontinuous lane changing is a preset duration.

[0053] In another embodiment of this application, another specific method for determining the first duration in discontinuous lane-changing mode is also provided. For example, if the lane-changing mode is discontinuous lane-changing and the vehicle has not completed the lane-changing operation indicated by the lane-changing prompt voice command, then the first duration is a preset duration.

[0054] In one possible implementation, when the vehicle's lane-changing mode is discontinuous lane changing and the vehicle has not completed the discontinuous lane-changing operation, the first duration can be a pre-set fixed duration, such as three minutes.

[0055] For example, a pre-set first duration can be input into the vehicle's autonomous driving system. During the first duration (three minutes) after the vehicle terminal completes the prompt voice broadcast for a discontinuous lane change, but the vehicle does not perform the discontinuous lane change operation, when the vehicle performs a new lane change operation as the vehicle status information is updated, the vehicle terminal will only play a simplified lane change prompt sound effect "dong".

[0056] It should be noted that the new lane change operation can be any type of lane change calculated by the autonomous driving system, and no specific restrictions are imposed here.

[0057] In one possible implementation, the system can determine whether a vehicle has completed the lane change operation indicated by the voice prompt by judging the lane it is in.

[0058] It should be noted that autonomous driving systems can navigate vehicles by importing maps. These imported maps can be map information collected from manned vehicles. Different lanes in the imported map have unique IDs. Therefore, the completion rate of a lane change operation can be determined by observing changes in the lane ID of the vehicle. Specifically, the vehicle completes a lane change operation when the lane ID changes.

[0059] The method provided in this application specifies the exact duration of the first time period when the vehicle changes lanes discontinuously, thus avoiding the panic experienced by users due to prolonged lack of audio-visual prompts during discontinuous lane changes and sudden lane changes by the vehicle.

[0060] In another embodiment of this application, a specific method for determining the first duration in continuous lane-changing mode is also provided. For example, if the lane-changing mode is continuous lane-changing, the start time of the first duration is the time after the lane-changing prompt voice, and the end time of the first duration is the time when the vehicle completes the lane-changing operation indicated by the lane-changing prompt voice.

[0061] In one possible implementation, when the vehicle's lane-changing mode is continuous lane changing, the initial duration can be determined by the completion rate of the lane-changing operation. The lane-changing prompt voice for continuous lane changing could be, "Continuous lane changing is about to begin. Please pay attention to vehicles behind you on the left / right."

[0062] It should be noted that continuous lane changing can be a lane-changing operation in which a vehicle continuously crosses two or more lanes. Continuous lane changing is defined as a process where the vehicle's stay in the intermediate lane during the lane-changing operation is relatively short, thus it can be considered a continuous lane-changing process.

[0063] In the method provided in the embodiments of this application, the start and end times of the first duration in the case of continuous lane changes are clearly defined.

[0064] In another embodiment of this application, a specific method for determining the start time of the first duration in continuous lane-changing mode is also provided. For example, the start time of the first duration may be the same as or different from the end time of the lane-changing prompt voice.

[0065] In one possible implementation, when the vehicle's lane-changing mode is continuous lane changing, the start time of the first duration can be either the end time of the lane-changing prompt voice playback in continuous lane-changing mode, or a certain time after the lane-changing prompt voice playback in continuous lane-changing mode. The time after the lane-changing prompt voice playback must be a time before the lane-changing operation is completed.

[0066] For example, when the start time of the first duration is the same as the end time of the lane change prompt voice playback, the first duration is counted from the end of the voice playback until the vehicle completes the continuous lane change operation.

[0067] The method provided in this application embodiment clarifies that the recording of the starting time of the first duration in the case of continuous lane changes is more flexible.

[0068] In another embodiment of this application, a specific classification method for lane-changing modes is also provided. For example, the lane-changing mode of a vehicle is determined based on vehicle condition information; lane-changing modes include continuous lane changing and discontinuous lane changing.

[0069] One possible implementation is to determine the vehicle's lane-changing mode based on lane information in the vehicle condition information.

[0070] It should be noted that the vehicle's various sensors transmit vehicle status information to the autonomous driving system, and the system determines the lane-changing mode before triggering the lane-changing command.

[0071] In the method provided in this application embodiment, the vehicle lane changing mode is mainly divided into two categories according to the lane number information, which lays the foundation for determining the first duration.

[0072] In another embodiment of this application, a specific method for determining the lane-changing mode is also provided. For example, the specific implementation of "determining the vehicle's lane-changing mode based on vehicle condition information" mentioned above includes: determining the vehicle's target lane based on vehicle condition information; the target lane is the lane the vehicle is expected to enter; and determining the vehicle's lane-changing mode based on the number of lanes between the target lane and the current lane.

[0073] In one possible implementation, the number of lanes between the expected lane and the current lane can be obtained based on vehicle condition information. When the number of lanes between lanes is greater than or equal to 2, it can be determined that the lane change mode to be triggered by the vehicle is a continuous lane change mode; when the number of lanes between lanes is less than or equal to 1, it can be determined that the lane change mode to be triggered by the vehicle is a discontinuous lane change mode.

[0074] In another embodiment of this application, Figure 3 This is a schematic diagram illustrating the lane change notification process for an autonomous vehicle according to an embodiment of this application. (Reference) Figure 3 The acquisition method may include the following steps.

[0075] 301, get vehicle condition information.

[0076] One possible implementation involves using multiple in-vehicle sensors to collect vehicle condition information during the vehicle's journey. Based on this information, the number of lanes between the expected entry lane and the current lane is determined.

[0077] Optionally, when the number of lanes between two adjacent lanes is greater than or equal to two, the vehicle enters a continuous lane-changing scenario; when the number of lanes between two adjacent lanes is less than or equal to one, the vehicle enters a discontinuous lane-changing scenario. It should be noted that the vehicle entering a continuous / discontinuous lane-changing scenario can be used to characterize that the vehicle's condition information meets the conditions for lane changing, that is, the vehicle's ready lane-changing state has been triggered.

[0078] 302, determine whether this is the vehicle's first lane change.

[0079] In one possible implementation, when a vehicle triggers the ready lane change state, it can be determined whether the ready lane change state triggered by the vehicle is the first time the ready lane change has been triggered.

[0080] Optionally, when the vehicle triggers a ready lane change state that is the first ready lane change, step 303 is executed; when the vehicle triggers a ready lane change state that is not the first ready lane change, step 3041 is executed in the continuous lane change scenario, and step 3042 is executed in the non-continuous lane change scenario.

[0081] 303, outputs lane change prompt voice and highlights the target lane.

[0082] In one possible implementation, when the first lane change ready is triggered in a continuous scenario, the vehicle terminal can play a lane change prompt voice message, "We are about to change lanes continuously. Please pay attention to the vehicles behind you on the left / right." The vehicle terminal can also highlight the lane that the vehicle is about to enter, thereby indicating that the vehicle is starting to prepare for a continuous lane change.

[0083] In another possible implementation, when the first lane change ready is triggered in a discontinuous scenario, the vehicle terminal can play a lane change prompt voice "Preparing to change lanes" and the vehicle terminal can highlight the lane that the vehicle is about to enter, thereby indicating that the vehicle has begun to prepare for a discontinuous lane change.

[0084] It should be noted that after the first lane change "ready" trigger in different scenarios, the vehicle does not immediately execute the lane change operation. Instead, the predictive planning module in the autonomous driving system determines in real time whether the vehicle gap meets the lane change conditions based on vehicle condition information. When the lane change conditions are met and the lane change operation is to be executed, the on-board terminal can render a parking space box at the lane position where the vehicle is about to arrive, thus indicating that the vehicle has begun to execute the lane change operation.

[0085] For example, different vehicle condition information will generate different lane change types, such as NLC (Navigate Lane Change), ULC (Overtake Slower Vehicle), and RMLC (Leave the Rightmost Lane). Therefore, there can be a certain time difference between the playback time of the lane change prompt voice and the start time of the lane change operation in each lane change scenario.

[0086] 3041, outputs simplified sound effects and highlights the target lane (for continuous lane change scenarios).

[0087] In one possible implementation, in a continuous lane-changing scenario, when the vehicle triggers the ready lane-changing state not for the first time and the vehicle performs the lane-changing operation, the on-board terminal only plays a simplified sound effect "dong" and repeats the lane highlighting process described above.

[0088] 3042, determine whether the current lane has changed or whether it is within the first duration after the lane change prompt voice is output.

[0089] In one possible implementation, in discontinuous lane-changing scenarios, when the vehicle's triggered "ready" lane-changing state is not the first time a lane-changing "ready" state has been triggered and the vehicle performs a lane-changing operation, it can be determined whether the lane has changed within the first duration after the lane-changing prompt voice is output. This first duration can be 3 minutes.

[0090] For example, to avoid repeated playback of lane change prompts caused by changes in lane change type during discontinuous lane changes, it can be determined whether the vehicle's lane has changed or whether more than 3 minutes have passed since the last lane change prompt. If the lane has changed or more than 3 minutes have passed since the last lane change prompt, step 305 is executed; if the lane has not changed and is within 3 minutes of the last lane change prompt, step 306 is executed.

[0091] 305, output lane change prompt voice.

[0092] In one possible implementation, when the vehicle's lane changes or the first duration of the lane change prompt voice playback time has elapsed, the vehicle terminal will play the lane change prompt voice again for any subsequent lane change type ready trigger.

[0093] It should be noted that the initial time limit is set to avoid panic caused by the vehicle terminal not alerting the driver to a sudden lane change for an extended period.

[0094] 306, outputs simplified sound effects and highlights the target lane (in non-continuous lane change scenarios).

[0095] In one possible implementation, if the vehicle's lane does not change within the first duration after the lane change prompt voice is played, it indicates that the vehicle has not yet completed the lane change operation. Therefore, when other lane change scenarios are triggered subsequently, the in-vehicle audio-visual equipment will not repeat the lane change prompt voice; instead, it will only play a simplified sound effect "dong" and repeat the lane highlighting process described above.

[0096] The embodiments described above present a flowchart of a complete lane change notification method. Figure 4 This is a block diagram of a lane change warning device according to an embodiment of this application. This device can be deployed on the computer equipment described above. (Reference) Figure 4 The device includes a first output unit 401 and a second output unit 402.

[0097] The first output unit is used to acquire vehicle condition information around the vehicle and output a lane change prompt voice when the vehicle condition information meets the lane change conditions.

[0098] The second output unit is used to output a simplified sound effect within the first duration after the lane change prompt voice is output. If the new vehicle condition information meets the lane change conditions, the simplified sound effect will play for a shorter duration than the lane change prompt voice.

[0099] In one possible embodiment, the second output unit 402 is further configured to determine the first duration in relation to the vehicle's lane-changing mode.

[0100] In one possible embodiment, the second output unit 402 is further configured to, if the lane-changing mode is a non-continuous lane-changing mode, then the first duration is a preset duration.

[0101] In one possible embodiment, the second output unit 402 is further configured to, if the lane change mode is a non-continuous lane change and the vehicle has not completed the lane change operation indicated by the lane change prompt voice, then the first duration is a preset duration.

[0102] In one possible embodiment, the second output unit 402 is further configured to, if the lane change mode is continuous lane change, start time of the first duration is the time after the lane change prompt voice, and end time of the first duration is the time when the vehicle completes the lane change operation indicated by the lane change prompt voice.

[0103] In one possible embodiment, the second output unit 402 is further configured to determine whether the start time of the first duration is the same as or different from the end time of the lane change prompt voice.

[0104] In one possible embodiment, the second output unit 402 is further configured to determine the lane-changing mode of the vehicle based on vehicle condition information; the lane-changing mode includes continuous lane changing and discontinuous lane changing.

[0105] In one possible embodiment, the second output unit 402 is further configured to determine the target lane of the vehicle based on vehicle condition information; the target lane is the lane that the vehicle is expected to enter.

[0106] The lane-changing mode of the vehicle is determined based on the number of lanes between the target lane and the current lane.

[0107] The lane change warning device provided in this application first calculates in real time whether the vehicle's driving conditions meet the lane change requirements. When the vehicle condition information meets the lane change requirements, different lane change types are determined based on different driving conditions. When performing a lane change operation according to the lane change type, the driving system automatically plays a lane change warning voice message. Within a certain period after the lane change warning voice message is played, if new vehicle condition information meets the lane change requirements, a simplified sound effect shorter than the lane change warning voice message is played, thereby improving the lane change warning effect of the autonomous vehicle.

[0108] In one embodiment, a computer device is provided. Figure 5A structural block diagram of the computer device provided in the embodiments of this application, with reference to Figure 5 The computing device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0109] Acquire vehicle condition information around the vehicle. When the vehicle condition information meets the lane change conditions, output a lane change prompt voice. Within the first duration after outputting the lane change prompt voice, if the vehicle's new vehicle condition information meets the lane change conditions, output a simplified sound effect. The playback duration of the simplified sound effect is shorter than the playback duration of the lane change prompt voice.

[0110] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A lane change notification method, characterized in that, The method includes: Acquire vehicle condition information around the vehicle, and when the vehicle condition information meets the lane change conditions, output a lane change prompt voice. Within the first duration after the lane change prompt voice is output, if the new vehicle condition information meets the lane change conditions, a simplified sound effect is output; the playback duration of the simplified sound effect is less than the playback duration of the lane change prompt voice. The first duration is related to the lane-changing mode of the vehicle; If the lane change mode is a non-continuous lane change and the vehicle has not completed the lane change operation indicated by the lane change prompt voice, then the first duration is a preset duration. If the lane change mode is continuous lane change, then the start time of the first duration is the time after the lane change prompt voice, and the end time of the first duration is the time when the vehicle completes the lane change operation indicated by the lane change prompt voice.

2. The method according to claim 1, characterized in that, The method further includes: If the lane change mode is a non-continuous lane change, then the first duration is a preset duration.

3. The method according to claim 1, characterized in that, The method further includes: The start time of the first duration may be the same as or different from the end time of the lane change prompt voice.

4. The method according to claim 1, characterized in that, The method further includes: The lane-changing mode of the vehicle is determined based on the vehicle condition information; the lane-changing mode includes continuous lane changing and discontinuous lane changing.

5. The method according to claim 4, characterized in that, Determining the lane-changing mode of the vehicle based on the vehicle condition information includes: The target lane for the vehicle is determined based on the vehicle condition information; the target lane is the lane the vehicle is expected to enter. The lane-changing mode of the vehicle is determined based on the number of lanes between the target lane and the current lane.

6. A lane change warning device, characterized in that, The device includes: The first output unit is used to acquire vehicle condition information around the vehicle, and when the vehicle condition information meets the lane change conditions, outputs a lane change prompt voice. The second output unit is configured to output a simplified sound effect if, within a first duration after the lane change prompt voice is output, the new vehicle condition information meets the lane change conditions; the playback duration of the simplified sound effect is less than the playback duration of the lane change prompt voice. The first duration is related to the lane-changing mode of the vehicle; If the lane change mode is a non-continuous lane change and the vehicle has not completed the lane change operation indicated by the lane change prompt voice, then the first duration is a preset duration. If the lane change mode is continuous lane change, then the start time of the first duration is the time after the lane change prompt voice, and the end time of the first duration is the time when the vehicle completes the lane change operation indicated by the lane change prompt voice.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes instructions that, when executed, cause the method as described in any one of claims 1 to 5 to be performed.

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