A vehicle lane change collision warning method and apparatus

Abstract

The application discloses a vehicle lane-changing collision warning method and device. The method comprises the following steps: acquiring first driving information of a first vehicle, second driving information of a second vehicle and position information of the second vehicle relative to the first vehicle, wherein the second vehicle is another vehicle around the first vehicle; obtaining relative driving information of the second vehicle relative to the first vehicle according to the first driving information and the second driving information; and generating a warning result according to the first driving information, the position information and the relative driving information. The technical scheme provided by the application can improve the response speed and accuracy of vehicle lane-changing collision warning, thereby improving the safety of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle collision warning technology, and in particular to a method and device for vehicle lane change collision warning. Background Technology

[0002] Safety performance is a crucial indicator for evaluating vehicle performance. Often, a vehicle may have excellent overall performance but poor safety performance, leading to its rejection. To ensure safe driving on the road, collision warnings are necessary to alert drivers to take appropriate evasive action.

[0003] Lane change collision warning is one of the more important collision warning methods. Therefore, to ensure that vehicles can safely change lanes, highly accurate lane change collision warnings are required. Current technology often requires determining the collision time based on the coordinates of the target vehicle when it reaches the restricted lane change area. This time is then compared with a preset collision time to determine whether a lane change collision warning is needed. However, this collision time calculation involves calculating multiple collision coordinates and judging each one individually, making the process complex and potentially affecting the optimal warning time. Furthermore, the ability to quickly issue lane change collision warnings, giving drivers more reaction and evasive maneuvers, determines the performance of the lane change collision warning function.

[0004] Therefore, a highly accurate and rapid vehicle lane change collision warning technology is needed to solve the problems existing in the current technology. Summary of the Invention

[0005] To address the problems of the prior art, this application provides a technical solution for a vehicle lane change collision warning method and device, the technical solution of which is described below:

[0006] On the one hand, a vehicle lane change collision warning method is provided, the method including:

[0007] Acquire first driving information of a first vehicle, second driving information of a second vehicle, and position information of the second vehicle relative to the first vehicle, wherein the second vehicle is another vehicle located around the first vehicle;

[0008] Based on the first driving information and the second driving information, the relative driving information of the second vehicle relative to the first vehicle is obtained;

[0009] A warning result is generated based on the first driving information, the location information, and the relative driving information.

[0010] Further, the warning result includes a first warning result, and generating the warning result based on the first driving information, the location information, and the relative driving information includes:

[0011] If the first driving information, the location information, or the relative driving information does not meet the first warning conditions, a first warning result is generated, and the first warning result indicates that no collision warning will be issued.

[0012] Further, generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes:

[0013] Based on the first driving information, the gear information and longitudinal speed information of the first vehicle are obtained;

[0014] The first warning result is generated when the gear information of the first vehicle is not a forward gear, or when the longitudinal speed information is not within the preset speed range.

[0015] Further, generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes:

[0016] Based on the location information and the preset lane change detection area, the positional relationship between the second vehicle and the preset lane change detection area is determined;

[0017] If the second vehicle is not located within the preset lane change detection area, the first warning result is generated.

[0018] Further, generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes:

[0019] Based on the first driving information, the longitudinal speed information of the first vehicle is obtained;

[0020] Based on the second driving information, the longitudinal speed information of the second vehicle is obtained;

[0021] The first warning result is generated if the longitudinal speed information of the second vehicle is not greater than that of the first vehicle.

[0022] Furthermore, the warning result includes a second warning result, and generating the warning result based on the first driving information, the location information, and the relative driving information includes:

[0023] If the first driving information, the location information, and the relative driving information meet the first warning conditions, the second warning result is generated.

[0024] Furthermore, the second warning result includes a third warning result. Generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes:

[0025] Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area, and the position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained.

[0026] If the predicted time falls within the first time range, the third warning result is generated, indicating that no collision warning will be issued.

[0027] Furthermore, the second warning result includes a fourth warning result. Generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes:

[0028] Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area, and the position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained.

[0029] When the predicted time is within a second time range, the lateral relative displacement of the second vehicle relative to the first vehicle at the predicted time is obtained based on the predicted time, the relative driving information, and the position information.

[0030] When the lateral relative displacement is within a preset displacement range, the fourth warning result is generated, indicating that no collision warning will be issued.

[0031] Furthermore, the second warning result includes a fifth warning result. Generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes:

[0032] If the lateral relative displacement is not within the preset displacement range, the fifth warning result is generated, and the fifth warning result indicates that a collision warning should be issued.

[0033] On the other hand, a vehicle lane change collision warning device is provided, the device comprising:

[0034] Information acquisition module: used to acquire first driving information of the first vehicle, second driving information of the second vehicle, and position information of the second vehicle relative to the first vehicle, wherein the second vehicle is other vehicles located around the first vehicle;

[0035] Relative driving information determination module: used to obtain the relative driving information of the second vehicle relative to the first vehicle based on the first driving information and the second driving information;

[0036] Warning result generation module: used to generate warning results based on the first driving information, the location information and the relative driving information.

[0037] On the other hand, a vehicle lane change collision warning device is provided, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle lane change collision warning method as described above.

[0038] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle lane change collision warning method as described above.

[0039] The vehicle lane change collision warning method, device, equipment, and storage medium provided in this application have the following technical effects:

[0040] This application embodiment acquires first driving information of a first vehicle, second driving information of a second vehicle, and position information of the second vehicle relative to the first vehicle. The second vehicle refers to other vehicles located around the first vehicle. Based on the first and second driving information, the relative driving information of the second vehicle relative to the first vehicle is determined. Then, based on the first driving information, position information, and relative driving information, a warning result is generated, and a collision warning is issued based on the warning result. The technical solution provided by this application can improve the response speed and accuracy of vehicle lane change collision warnings, thereby enhancing vehicle safety. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A schematic flowchart illustrating a vehicle lane change collision warning method provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the simplified lane change collision model provided in the embodiments of this application;

[0044] Figure 3 A flowchart illustrating the first early warning result determination method provided in this application embodiment;

[0045] Figure 4 A flowchart illustrating the third early warning result determination method provided in this application embodiment;

[0046] Figure 5 A schematic diagram illustrating the relationship between the preset collision time threshold and the longitudinal relative speed information of the second vehicle relative to the first vehicle, as provided in the embodiments of this application.

[0047] Figure 6 A flowchart illustrating the fourth early warning result determination method provided in this application embodiment;

[0048] Figure 7 This is a schematic diagram of the structure of a vehicle lane change collision warning device provided in an embodiment of this application;

[0049] Figure 8 This is a schematic diagram of the structure of a first sub-early warning result determination submodule provided in an embodiment of this application;

[0050] Figure 9 A schematic diagram of the structure of another first sub-early warning result determination submodule provided in an embodiment of this application;

[0051] Figure 10 This is a schematic diagram of the structure of a second early warning result determination module provided in an embodiment of this application;

[0052] Figure 11 A schematic diagram of another second early warning result determination module provided in an embodiment of this application;

[0053] Figure 12 This is a schematic diagram of the structure of a server provided in an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0055] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0056] Please see Figure 1 The diagram shown is a flowchart illustrating a vehicle lane change collision warning method provided in an embodiment of this application. The following is a summary of the process. Figure 1 The technical solution of this application is described in detail. It should be noted that this specification provides the method operation steps as shown in the embodiments or flowcharts, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. The method specifically includes the following steps:

[0057] S101: Obtain the first driving information of the first vehicle, the second driving information of the second vehicle, and the position information of the second vehicle relative to the first vehicle, wherein the second vehicle is another vehicle located around the first vehicle.

[0058] In this embodiment of the application, both the first driving information and the second driving information can be parameter information used to describe the driving behavior of a vehicle on the road. For example, the first driving information may include, but is not limited to, the driving speed, driving direction, and driving gear information of the first vehicle, etc. Thus, the state of the first vehicle when driving on the road can be known based on the first driving information. The second driving information may include, but is not limited to, the driving speed, driving direction, and driving gear information of the second vehicle, etc. Thus, the state of the second vehicle when driving on the road can be known based on the second driving information.

[0059] Specifically, the onboard terminal configured on the first vehicle can acquire the vehicle's driving information through sensors installed on the first vehicle. For example, it can acquire the vehicle's speed through a speed sensor and its driving direction through GPS (Global Positioning System). The sensors configured on the first vehicle can also acquire the driving information of the second vehicles surrounding the first vehicle through the onboard radar configured on the second vehicle. This information may include, but is not limited to, the distance between the first and second vehicles, as well as the speed and direction of the second vehicles.

[0060] In this system, the first vehicle is the vehicle issuing the lane change collision warning, and the second vehicle is any other vehicle located around the first vehicle. When the first vehicle is about to change lanes, a lane change collision calculation is performed to determine whether a lane change collision will occur with the second vehicle located around it. This results in a lane change collision result, allowing the first vehicle to take appropriate driving actions. For example, if it is determined that the first vehicle will not collide with the second vehicle, it can proceed with the lane change. If it is determined that a lane change collision is possible, a corresponding lane change warning is generated to alert the driver that a lane change is not permitted. It should be noted that the second vehicle can be a vehicle within a predetermined range of the first vehicle. This predetermined range can be preset according to actual implementation needs, such as 50 meters, 70 meters, 100 meters, or 200 meters, etc. This is merely an example, and this application does not impose any specific limitations on it.

[0061] S102: Based on the first driving information and the second driving information, obtain the relative driving information of the second vehicle relative to the first vehicle.

[0062] In this embodiment of the application, the relative driving information includes the lateral relative speed information of the second vehicle relative to the first vehicle and the longitudinal relative speed information of the second vehicle relative to the first vehicle. The lateral relative speed information represents the lateral relative speed information of the second vehicle relative to the first vehicle, and the longitudinal relative speed information represents the longitudinal relative speed information of the second vehicle relative to the first vehicle. The longitudinal direction of the vehicle is the length direction of the first vehicle from the rear to the front, and the lateral direction of the vehicle is the direction perpendicular to the longitudinal direction of the vehicle, that is, the width direction of the first vehicle.

[0063] In one specific embodiment, such as Figure 2 As shown, it is a structural schematic diagram of the simplified lane change collision model provided in the embodiment of this application. The following is a combination of... Figure 2 The lateral relative velocity information and the longitudinal relative velocity information are described in detail.

[0064] Figure 2 The region formed by line segments BD, EF, DF, and BE represents the first vehicle, and point P is the position of the second vehicle. The direction of the Y-axis can represent the lateral direction of the vehicle, and the direction of the X-axis can represent the longitudinal direction of the vehicle. The lateral relative velocity information represents the relative vector velocity of the second vehicle relative to the first vehicle along the Y-axis, and the longitudinal relative velocity information represents the relative vector velocity of the second vehicle relative to the first vehicle along the X-axis.

[0065] Specifically, let the speed of the first vehicle be (v). x1 The second vehicle's speed is (v, 0), and the second vehicle's speed is (v, 0). xp vyp If the lateral relative velocity information is v, then the lateral relative velocity information can be expressed as v yp The longitudinal relative velocity information can be represented as v xp -v x1 Then, based on the determined lateral relative speed information and longitudinal relative speed information, the relative driving information of the second vehicle relative to the first vehicle can be determined, so as to combine the first driving information and position information to generate warning information, thereby determining whether the first vehicle can perform a lane change operation.

[0066] S103: Generate a warning result based on the first driving information, location information, and relative driving information.

[0067] In this embodiment, the generated warning result can determine whether a collision will occur when the first vehicle changes lanes. If no collision occurs, the first vehicle can change lanes to the right or left. If a collision occurs, a collision warning signal is issued to warn the driver that lane changing is not allowed. Furthermore, this embodiment can generate corresponding warning results based on the correspondence between the first driving information, position information, and relative driving information and the preset warning conditions, thereby improving the response speed and accuracy of the vehicle lane change collision warning and enhancing vehicle safety.

[0068] For example, this embodiment can generate a corresponding warning result when the first driving information, location information, or relative driving information does not meet the first warning condition. The warning result can indicate that no collision warning should be issued, so as to filter out the situation where no warning is issued, thereby reducing the corresponding collision calculation process, improving the response speed of vehicle lane change collision warning, shortening the warning response cycle, and achieving the purpose of rapid warning. Alternatively, when the first driving information, location information, or relative driving information meets the first warning condition, further lane change collision calculation can be performed to comprehensively analyze the collision and generate a corresponding warning result, so as to improve the accuracy of vehicle lane change collision warning and thus improve vehicle safety.

[0069] In an optional implementation, the warning result includes a first warning result, and step S103 may include:

[0070] S1031: If the first driving information, location information or relative driving information does not meet the first warning conditions, a first warning result is generated, and the first warning result indicates that no collision warning is issued.

[0071] In one specific implementation, such as Figure 3 As shown, this is a flowchart illustrating the first early warning result determination method provided in this application embodiment. Step S1031 may include:

[0072] S10311: Based on the first driving information, obtain the gear information and longitudinal speed information of the first vehicle.

[0073] S10312: If the gear information of the first vehicle is not a forward gear, or the longitudinal speed information is not within the preset speed range, a first warning result is generated.

[0074] In this embodiment, the first driving information includes the gear information and longitudinal speed information of the first vehicle. This information is then used to determine whether the gear information and longitudinal speed information of the first vehicle meet the first warning condition. The longitudinal speed information of the first vehicle is represented as the speed information of the first vehicle along the X-axis. This filters out cases where the gear information and longitudinal speed information of the first vehicle do not meet the first warning condition, reducing the corresponding collision calculation process, improving the response speed of the lane change collision warning, shortening the warning response cycle, and achieving the goal of rapid warning. If the cases where the gear information and longitudinal speed information of the first vehicle do not meet the first warning condition are not filtered out, a more cumbersome lane change collision calculation process is required. Only after the cumbersome lane change collision calculation process is completed can it be determined whether to issue a lane change collision warning, which obviously delays the response time of the lane change collision. This delay in the response time of the lane change collision may cause irreparable damage.

[0075] Specifically, if the gear information of the first vehicle is not a forward gear, it indicates that the gear information of the first vehicle is neutral or reverse, etc. In this case, the first vehicle does not need to perform a lane change operation, so there is no need to issue a lane change collision warning. If the longitudinal speed information of the first vehicle is not within the preset speed range, it indicates that the longitudinal speed of the first vehicle is too low and does not meet the conditions for performing a lane change operation, so there is also no need to issue a lane change collision warning.

[0076] In an optional implementation, step S1031 may further include:

[0077] S10313: Determine the positional relationship between the second vehicle and the preset lane change detection area based on the location information and the preset lane change detection area.

[0078] S10314: If the second vehicle is not located within the preset lane change detection area, generate a first warning result.

[0079] In this embodiment of the application, by determining whether the second vehicle is located in the preset lane change detection area, the situation where the second vehicle is not located in the preset lane change detection area can be filtered out. Specifically, when the second vehicle changes lanes without being located and causes an impact, there is no need to issue a lane change collision warning. Therefore, by filtering out the situation where the second vehicle is not located in the preset lane change detection area, the corresponding collision calculation process can be further reduced, the response speed of the vehicle lane change collision warning can be improved, and the warning response cycle can be shortened.

[0080] It should be noted that the preset lane change detection area is a detection area defined based on the lane change collision warning. Please refer to [link / reference needed]. Figure 2 ,exist Figure 2 The area formed by line segments GH, GI, IJ, and HJ is represented as the preset lane change detection area. Then, by determining whether the second vehicle is located in the preset lane change detection area, the case where the second vehicle is not located in the preset lane change detection area is filtered out. Here, the size of the preset lane change detection area is not specifically limited.

[0081] In an optional implementation, step S1031 may further include:

[0082] S10315: Based on the first driving information, obtain the longitudinal speed information of the first vehicle.

[0083] S10316: Based on the second driving information, obtain the longitudinal speed information of the second vehicle.

[0084] S10317: If the longitudinal speed information of the second vehicle is not greater than the longitudinal speed information of the first vehicle, generate a first warning result.

[0085] In this embodiment of the application, the first driving information includes the longitudinal speed information of the first vehicle, and the second driving information includes the longitudinal speed information of the second vehicle. The relationship between the longitudinal speed information of the second vehicle and the longitudinal speed information of the first vehicle is determined so as to filter out the cases where the longitudinal speed information of the second vehicle is not greater than the longitudinal speed information of the first vehicle. This further reduces the corresponding collision calculation process, improves the response speed of the vehicle lane change collision warning, shortens the warning response cycle, and achieves the purpose of rapid warning.

[0086] Specifically, if the longitudinal speed of the second vehicle is not greater than that of the first vehicle, it means that the longitudinal speed of the second vehicle is less than or equal to that of the first vehicle. In this case, the second vehicle does not affect the lane change of the first vehicle, so there is no need to issue a lane change collision warning.

[0087] In an optional implementation, if the warning result includes a second warning result, then step S103 may further include:

[0088] S1032: If the first driving information, location information and relative driving information meet the first warning conditions, generate a second warning result.

[0089] In one specific implementation, such as Figure 4 As shown, this is a flowchart illustrating the third early warning result determination method provided in this application embodiment. Step S1032 may include:

[0090] S10321: Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area and position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained.

[0091] S10322: If the predicted time is within the first time range, generate a third warning result, which indicates that no collision warning will be issued.

[0092] In this embodiment, the position information includes the longitudinal position information of the second vehicle relative to the first vehicle and the lateral position information of the second vehicle relative to the first vehicle. The position information of the second vehicle relative to the first vehicle is then determined based on the longitudinal and lateral position information. The preset lane change collision area includes the minimum longitudinal collision boundary information. The distance of the second vehicle from the minimum longitudinal collision boundary is determined based on the minimum longitudinal collision boundary information and the position information of the second vehicle relative to the first vehicle. Finally, the predicted time for the second vehicle to reach the preset lane change collision area is determined based on the distance from the minimum longitudinal collision boundary and the longitudinal relative speed information in the relative driving information. It should be noted that this application is a lane change collision warning method; therefore, it only needs to calculate the collision time of the second vehicle reaching the minimum longitudinal collision boundary of the preset lane change collision area.

[0093] The first time range is defined as the range where the predicted time is greater than a preset collision time threshold. Specifically, if the predicted time is greater than the preset collision time threshold, a third warning result indicating no collision warning is generated. In other words, if the predicted time is greater than the preset collision time threshold, it means the second vehicle will not affect the first vehicle's lane change. Therefore, no lane change collision warning is needed. It should be noted that the preset collision time threshold is related to the longitudinal relative speed information of the second vehicle relative to the first vehicle. The specific correlation is as follows: Figure 5 As shown, this is a schematic diagram illustrating the relationship between the preset collision time threshold and the longitudinal relative speed information of the second vehicle relative to the first vehicle provided in this application embodiment. Figure 5As can be seen, when the longitudinal relative velocity information is 0-10m / s (excluding 10m / s), the corresponding preset collision time threshold is 2.5s. When the longitudinal relative velocity information is 10m / s-15m / s (excluding 15m / s), the corresponding preset collision time threshold is 3s. It should be noted that when the longitudinal relative velocity information is 10m / s, the corresponding preset collision time threshold is 3s, and when the longitudinal relative velocity information is 15m / s, the corresponding preset collision time threshold is 3.5s.

[0094] In practical applications, please refer to [link / reference needed]. Figure 2 ,exist Figure 2 The region defined by line segments AB, AC, CD, and BC is represented as the preset lane change collision zone. Line segment CD represents the minimum longitudinal collision boundary of the preset lane change collision. The position information of the second vehicle relative to the first vehicle is... Figure 2 The coordinates of the midpoint P. Let the coordinates of point P be P(x...). p y p The speed of the first vehicle is (v) x1 The second vehicle's speed is (v, 0), and the second vehicle's speed is (v, 0). xp v yp The longitudinal relative velocity information can be represented as v. xp -v x1 Let T be the predicted time for the second vehicle to reach the preset lane-change collision zone, and L be the distance between the second vehicle and the minimum longitudinal collision boundary. Then:

[0095] T = L / |(v yp -v x1 )|

[0096] Among them, |(v xp -v x1 )| represents the numerical value corresponding to the longitudinal relative velocity information, and this value is non-negative.

[0097] In one optional implementation, the second warning result includes a fourth warning result, such as... Figure 6 As shown, this is a flowchart illustrating the fourth early warning result determination method provided in this application embodiment. Step S1032 may further include:

[0098] S10323: Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area and position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained.

[0099] S10324: When the predicted time is within the second time range, the lateral relative displacement of the second vehicle relative to the first vehicle at the predicted time is obtained based on the predicted time, relative driving information, and position information.

[0100] S10325: When the lateral relative displacement is within the preset displacement range, a fourth warning result is generated, which indicates that no collision warning will be issued.

[0101] In this embodiment, the second time range is the range where the predicted time is less than or equal to a preset collision time threshold. That is, if the predicted time is less than or equal to the preset collision time threshold, it indicates that the second vehicle will travel to the minimum longitudinal collision boundary information of the preset lane change collision within the preset collision time threshold. In this case, the second vehicle may collide with the first vehicle. It is necessary to further determine the lateral relative displacement of the second vehicle relative to the first vehicle at the predicted time in order to determine whether the second vehicle is still traveling in the adjacent lane at the predicted time. The adjacent lane is the lane that the first vehicle wants to change lanes to. If the second vehicle is still traveling in the adjacent lane, a lane change warning is required. If the second vehicle is no longer traveling in the adjacent lane, then the second vehicle has not affected the lane change of the first vehicle. Therefore, there is no need to issue a lane change collision warning.

[0102] Specifically, the preset displacement range is the range where the lateral relative displacement is less than zero or the lateral relative displacement is greater than the length of the minimum longitudinal collision boundary of the preset lane change collision area. That is, if the lateral relative displacement relative to the first vehicle is less than zero or the lateral relative displacement relative to the first vehicle is greater than the length of the minimum longitudinal collision boundary of the preset lane change collision area, it indicates that the second vehicle is no longer in the adjacent lane. At this time, the second vehicle has not affected the lane change of the first vehicle in any way, so there is no need to issue a lane change collision warning.

[0103] In practical applications, relative driving information includes the lateral relative velocity information of the second vehicle relative to the first vehicle. Then, based on the lateral relative velocity information, the prediction time, and the position information of the second vehicle relative to the first vehicle, the lateral relative displacement of the second vehicle relative to the first vehicle at the predicted time is determined. For details, please continue reading... Figure 2 Let the coordinates of point P be P(x) p y p The speed of the first vehicle is (v) x1 The second vehicle's speed is (v, 0), and the second vehicle's speed is (v, 0). xp v yp The lateral relative velocity information can be represented as v. yp Let T be the predicted time for the second vehicle to reach the preset lane change collision zone, and Y be the lateral relative displacement. Then, the lateral relative displacement can be expressed as:

[0104] Y = yp + T*v yp

[0105] Among them, T*v ypThis represents the lateral displacement of the vehicle within the predicted time.

[0106] In an optional implementation, the second warning result includes the fifth warning result, and step S1032 may further include:

[0107] S10326: If the lateral relative displacement is not within the preset displacement range, a fifth warning result is generated, which indicates that a collision warning should be issued.

[0108] In this embodiment, when the lateral relative displacement is not within the preset displacement range, that is, the lateral relative displacement relative to the first vehicle is greater than or equal to zero and the lateral relative displacement relative to the first vehicle is less than or equal to the length of the minimum longitudinal collision boundary of the preset lane change collision area, it indicates that the second vehicle is still traveling in the adjacent lane and reaches the minimum longitudinal collision boundary of the preset lane change collision area within the predicted time. At this time, the second vehicle obstructs the lane change of the first vehicle. Therefore, a fifth warning result for collision warning is generated to warn the driver that lane change is not allowed. It can be seen that in the collision warning calculation process of the lane change warning in this application, only the calculation of the one-dimensional scene is involved in sequence, saving the extremely time-consuming collision calculation process, so as to speed up the response speed of lane change collision warning, improve the accuracy of vehicle lane change collision warning, and thus improve vehicle safety.

[0109] As can be seen from the above technical solutions of the embodiments of this application, the following technical effects are achieved:

[0110] This application embodiment acquires first driving information of a first vehicle, second driving information of a second vehicle, and position information of the second vehicle relative to the first vehicle. The second vehicle refers to other vehicles located around the first vehicle. Based on the first and second driving information, the relative driving information of the second vehicle relative to the first vehicle is determined. Then, based on the first driving information, position information, and relative driving information, a warning result is generated, and a collision warning is issued based on the warning result. The technical solution provided by this application can improve the response speed and accuracy of vehicle lane change collision warnings, thereby enhancing vehicle safety.

[0111] This application also provides a vehicle lane change collision warning device, such as... Figure 7 As shown, this is a structural schematic diagram of a vehicle lane change collision warning device provided in an embodiment of this application. The device specifically includes:

[0112] Information acquisition module 10: used to acquire the first driving information of the first vehicle, the second driving information of the second vehicle, and the position information of the second vehicle relative to the first vehicle, wherein the second vehicle is other vehicles located around the first vehicle.

[0113] Relative driving information determination module 20: used to obtain the relative driving information of the second vehicle relative to the first vehicle based on the first driving information and the second driving information.

[0114] Warning result generation module 30: used to generate warning results based on the first driving information, location information and relative driving information.

[0115] Preferably, if the warning result includes a first warning result, then the warning result generation module 30 may include:

[0116] First sub-warning result determination submodule 301: used to generate a first warning result when the first driving information, location information or relative driving information does not meet the first warning conditions, and the first warning result indicates that no collision warning will be issued.

[0117] Preferred, such as Figure 8 As shown, this is a structural schematic diagram of a first sub-early warning result determination submodule provided in an embodiment of this application. The first sub-early warning result determination submodule 301 may include:

[0118] Information determination unit 3011: used to obtain the gear information and longitudinal speed information of the first vehicle based on the first driving information.

[0119] Second sub-warning result determination unit 3012: used to generate a first warning result when the gear information of the first vehicle is not a forward gear or the longitudinal speed information is not within the preset speed range.

[0120] Preferably, the first sub-early warning result determination submodule 301 may further include:

[0121] Position Relationship Determination Submodule 302: Used to determine the position relationship between the second vehicle and the preset lane change detection area based on the position information and the preset lane change detection area.

[0122] The third sub-early warning result determination sub-unit 303 is used to generate a first early warning result when the second vehicle is not located in the preset lane change detection area.

[0123] Preferred, such as Figure 9 As shown, this is a schematic diagram of another first sub-early warning result determination submodule provided in an embodiment of this application. The first sub-early warning result determination submodule 301 may further include:

[0124] First longitudinal speed determination submodule 304: Obtains the longitudinal speed information of the first vehicle based on the first driving information.

[0125] Second longitudinal speed determination submodule 305: used to obtain the longitudinal speed information of the second vehicle based on the second driving information.

[0126] Fourth sub-early warning result determination sub-unit 306: used to generate a first early warning result when the longitudinal speed information of the second vehicle is not greater than the longitudinal speed information of the first vehicle.

[0127] Preferably, if the warning result includes a second warning result, then the warning result generation module 30 includes:

[0128] Second warning result determination module 306: used to generate a second warning result when the first driving information, location information and relative driving information meet the first warning conditions.

[0129] Preferred, such as Figure 10 As shown, this is a schematic diagram of the structure of a second early warning result determination module provided in an embodiment of this application. The second early warning result includes a third early warning result. Therefore, the second early warning result determination module 306 includes:

[0130] First prediction time determination submodule 3061: used to obtain the prediction time for the second vehicle to travel to the preset lane change collision area based on the relative driving information of the second vehicle relative to the first vehicle, the preset lane change collision area and position information.

[0131] The third early warning result determination submodule 3062 is used to generate a third early warning result when the predicted time is within the first time range. The third early warning result indicates that no collision warning should be issued.

[0132] Preferred, such as Figure 11 As shown, this is a schematic diagram of another second warning result determination module provided in an embodiment of this application. The second warning result includes a fourth warning result. Therefore, the second warning result determination module 306 includes:

[0133] The second prediction time determination submodule 3063 is used to obtain the prediction time for the second vehicle to travel to the preset lane change collision area based on the relative driving information of the second vehicle relative to the first vehicle, the preset lane change collision area and position information.

[0134] Lateral relative displacement determination submodule 3064: When the prediction time is within the second time range, it is used to obtain the lateral relative displacement of the second vehicle relative to the first vehicle at the prediction time based on the prediction time, relative driving information and position information.

[0135] Fourth warning result determination submodule 3065: Used to generate a fourth warning result when the lateral relative displacement is within a preset displacement range. The fourth warning result indicates that no collision warning will be issued.

[0136] Preferably, if the second warning result includes the fifth warning result, then the second warning result determination module 306 includes:

[0137] Fifth warning result determination submodule 3066: used to generate a fifth warning result when the lateral relative displacement is not within the preset displacement range. The fifth warning result indicates that a collision warning should be issued.

[0138] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0139] This application provides a vehicle lane change collision warning device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, code set, or instruction set. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle lane change collision warning method provided in the above method embodiment.

[0140] Memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory can also include a memory controller to provide the processor with access to the memory.

[0141] The vehicle lane change collision warning device can be a server. This application embodiment also provides a schematic diagram of the server structure. Please refer to [link / reference]. Figure 12The server 1200 is used to implement the data processing method provided in the above embodiments. The server 1200 can vary significantly due to different configurations or performance, and may include one or more processors 1210 (e.g., one or more processors) and storage 1230, and one or more storage media 1220 (e.g., one or more mass storage devices) for storing application programs 1223 or data 1222. The memory 1230 and storage media 1220 can be temporary or persistent storage. The program stored in the storage media 1220 may include one or more modules, each module including a series of instruction operations on the server. Furthermore, the processor 1210 may be configured to communicate with the storage media 1220 and execute the series of instruction operations in the storage media 1220 on the server 1200. Server 1200 may also include one or more power supplies 1260, one or more wired or wireless network interfaces 1250, one or more input / output interfaces 1240, and / or one or more operating systems 1221, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0142] Embodiments of this application also provide a computer-readable storage medium, which can be disposed in a server to store at least one instruction, at least one program, code set, or instruction set related to implementing a vehicle lane change collision warning method in the method embodiments. The at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the vehicle lane change collision warning method provided in the above method embodiments.

[0143] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0144] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system and server embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0145] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for warning of collisions during vehicle lane changes, characterized in that, include: Acquire first driving information of a first vehicle, second driving information of a second vehicle, and position information of the second vehicle relative to the first vehicle, wherein the second vehicle is another vehicle located around the first vehicle; Based on the first driving information and the second driving information, the relative driving information of the second vehicle relative to the first vehicle is obtained; Based on the first driving information, the location information, and the relative driving information, a warning result is generated; The step of generating a warning result based on the first driving information, the location information, and the relative driving information includes: generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition; the first warning result indicates that no collision warning will be issued; the first driving information includes the driving speed and gear information of the first vehicle; and the relative driving information includes the lateral relative speed information and longitudinal relative speed information of the second vehicle relative to the first vehicle.

2. The vehicle lane change collision warning method according to claim 1, characterized in that, The step of generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes: Based on the first driving information, the gear information and longitudinal speed information of the first vehicle are obtained; The first warning result is generated when the gear information of the first vehicle is not a forward gear, or when the longitudinal speed information is not within the preset speed range.

3. The vehicle lane change collision warning method according to claim 2, characterized in that, The step of generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes: Based on the location information and the preset lane change detection area, the positional relationship between the second vehicle and the preset lane change detection area is determined; If the second vehicle is not located within the preset lane change detection area, the first warning result is generated.

4. The vehicle lane change collision warning method according to claim 2 or 3, characterized in that, The step of generating a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition includes: Based on the first driving information, the longitudinal speed information of the first vehicle is obtained; Based on the second driving information, the longitudinal speed information of the second vehicle is obtained; The first warning result is generated if the longitudinal speed information of the second vehicle is not greater than that of the first vehicle.

5. The vehicle lane change collision warning method according to claim 1, characterized in that, The warning result includes a second warning result. Generating the warning result based on the first driving information, the location information, and the relative driving information includes: If the first driving information, the location information, and the relative driving information meet the first warning conditions, the second warning result is generated.

6. The vehicle lane change collision warning method according to claim 5, characterized in that, The second warning result includes a third warning result. Generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes: Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area, and the position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained. If the predicted time falls within the first time range, the third warning result is generated, indicating that no collision warning will be issued.

7. The vehicle lane change collision warning method according to claim 5, characterized in that, The second warning result includes a fourth warning result. The step of generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes: Based on the relative driving information of the second vehicle with respect to the first vehicle, the preset lane change collision area, and the position information, the predicted time for the second vehicle to travel to the preset lane change collision area is obtained. When the predicted time is within a second time range, the lateral relative displacement of the second vehicle relative to the first vehicle at the predicted time is obtained based on the predicted time, the relative driving information, and the position information. When the lateral relative displacement is within a preset displacement range, the fourth warning result is generated, indicating that no collision warning will be issued.

8. The vehicle lane change collision warning method according to claim 7, characterized in that, The second warning result includes a fifth warning result. The step of generating the second warning result when the first driving information, the location information, and the relative driving information meet the first warning condition includes: If the lateral relative displacement is not within the preset displacement range, the fifth warning result is generated, and the fifth warning result indicates that a collision warning should be issued.

9. A vehicle lane change collision warning device, characterized in that, The device includes: Information acquisition module: used to acquire first driving information of the first vehicle, second driving information of the second vehicle, and position information of the second vehicle relative to the first vehicle, wherein the second vehicle is other vehicles located around the first vehicle; Relative driving information determination module: used to obtain the relative driving information of the second vehicle relative to the first vehicle based on the first driving information and the second driving information; Warning result generation module: used to generate a warning result based on the first driving information, the location information and the relative driving information; The first sub-warning result determination submodule is used to generate a first warning result when the first driving information, the location information, or the relative driving information does not meet the first warning condition. The first warning result indicates that no collision warning will be issued. The first driving information includes the driving speed and gear information of the first vehicle, and the relative driving information includes the lateral relative speed information and longitudinal relative speed information of the second vehicle relative to the first vehicle.

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