Vehicle lane-changing interaction method, storage medium, and vehicle

Abstract

The present invention discloses a vehicle lane change interaction method, storage medium, and vehicle. The vehicle includes a vehicle-to-vehicle (V2V) interaction unit. The method comprises: detecting whether there is an obstacle or accident ahead of the vehicle to determine whether the vehicle requires a lane change; receiving a lane change command from the driver when the vehicle requires a lane change; and controlling the V2V interaction unit to generate a lane change intention signal based on the lane change command, and transmitting the lane change intention signal to a following vehicle to convey the lane change intention. This improves vehicle lane change safety and enhances the user experience.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle lane-changing interaction method, a storage medium, and a vehicle. Background Art

[0002] Although vehicle autonomous driving and other related technologies are developing rapidly, research on safety, technology, engineering, etc. lacks consideration of user driving experience.

[0003] For example, in the field of autonomous driving, lane changing is particularly common. However, most of the current related automatic lane changing technologies lack automatic lane changing solutions designed from the perspective of user needs and driving experience. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an object of the present invention is to propose a vehicle lane-changing interaction method to improve the safety of vehicle lane-changing and enhance user experience.

[0006] A second objective of the present invention is to provide another vehicle lane-changing interaction method.

[0007] A third object of the present invention is to provide a computer-readable storage medium.

[0008] A fourth object of the present invention is to provide a vehicle.

[0009] To achieve the above-mentioned objectives, a first embodiment of the present invention provides a vehicle lane-changing interaction method, wherein the vehicle includes a V2V interaction unit, and the method includes:

[0010] detecting whether there is an obstacle or accident ahead of the vehicle to determine whether the vehicle has a lane change requirement; receiving a lane change instruction from the driver when the vehicle has a lane change requirement; controlling the V2V interaction unit to generate a lane change intention signal according to the lane change instruction, and sending the lane change intention signal to the following vehicle to convey the lane change intention to the following vehicle.

[0011] The vehicle lane-changing interaction method of an embodiment of the present invention determines whether the vehicle has a lane-changing requirement by detecting whether there is an obstacle or accident ahead of the vehicle; if the vehicle has a lane-changing requirement, it receives a lane-changing instruction from the driver; controls the V2V interaction unit to generate a lane-changing intention signal according to the lane-changing instruction, and sends the lane-changing intention signal to the following vehicle to convey the lane-changing intention to the following vehicle, thereby improving the safety of the vehicle lane-changing in the lane-changing scenario and enhancing the user experience.

[0012] In some implementations, the vehicle includes a shooting unit, and detecting whether there is an obstacle or accident in front of the vehicle includes: using the shooting unit to shoot a picture in front of the vehicle; and determining whether there is an obstacle or accident in front of the vehicle based on the picture.

[0013] In some implementations, the vehicle includes a radar unit, and detecting whether there is an obstacle or an accident ahead of the vehicle includes: detecting whether there is an obstacle or an accident ahead of the vehicle by using a radar.

[0014] In some implementations, the vehicle further includes an external display unit. After receiving a lane change instruction from the driver, the method further includes: controlling the external display unit to display lane change intention information according to the lane change instruction.

[0015] In some implementations, the vehicle further includes multiple lighting units. After receiving the driver's lane change instruction, the method further includes: determining the lane change direction of the vehicle based on the lane change instruction, and controlling the light units in the corresponding direction to flash based on the lane change direction to display the lane change intention information.

[0016] In some implementations, upon receiving a picture sharing request from a following vehicle, the method further includes: transmitting the picture captured by the shooting unit to the following vehicle.

[0017] To achieve the above-mentioned purpose, a second embodiment of the present invention provides another vehicle lane-changing interaction method, wherein the vehicle includes a prompt unit, and the method includes:

[0018] Receive a lane-changing intention signal from a preceding vehicle, where the lane-changing intention signal is generated and sent by the preceding vehicle's V2V interaction unit when the preceding vehicle detects an obstacle or accident ahead and receives a lane-changing instruction from the driver; and control the prompt unit to issue a lane-changing intention prompt message from the preceding vehicle based on the lane-changing intention signal.

[0019] Another vehicle lane-changing interaction method according to an embodiment of the present invention receives a lane-changing intention signal sent by a leading vehicle. The lane-changing intention signal is generated and sent by the leading vehicle's V2V interaction unit when the leading vehicle detects an obstacle or accident ahead and receives a lane-changing instruction from the driver. The prompt unit is controlled according to the lane-changing intention signal to issue a lane-changing intention prompt message of the leading vehicle, thereby improving the safety of vehicle lane changing and enhancing the user experience in the lane-changing scenario.

[0020] In some implementations, the method further includes: sending a screen sharing request to a preceding vehicle, and receiving a shared screen sent by the preceding vehicle, wherein the shared screen is captured by a shooting unit of the preceding vehicle; and controlling a display unit of the vehicle to display the shared screen.

[0021] To achieve the above-mentioned purpose, the third embodiment of the present invention proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, it implements the vehicle lane changing interaction method proposed in the embodiment of the first aspect of the present invention, or the vehicle lane changing interaction method proposed in the embodiment of the second aspect of the present invention.

[0022] To achieve the above-mentioned purpose, the fourth embodiment of the present invention proposes a vehicle, including a memory and a processor, wherein a computer program is stored on the memory, and when the processor executes the computer program, it implements the vehicle lane changing interaction method proposed in the first embodiment of the present invention or the vehicle lane changing interaction method proposed in the second embodiment of the present invention.

[0023] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a flow chart of a vehicle lane-changing interaction method according to an embodiment of the present invention;

[0025] Figure 2 is a schematic structural diagram of an external display unit on a vehicle according to an embodiment of the present invention;

[0026] Figure 3 is a flow chart of a vehicle lane-changing interaction method according to another embodiment of the present invention;

[0027] Figure 4 is a flow chart of a method for sharing images between vehicles according to an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of a shared screen displayed on a vehicle screen according to an embodiment of the present invention;

[0029] Figure 6 2 is a schematic diagram of an AR-HUD display sharing screen according to an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the AR-HUD display position according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0032] The following describes a vehicle lane-changing interaction method, a storage medium, and a vehicle according to embodiments of the present invention with reference to the accompanying drawings.

[0033] Figure 1 FIG. 1 is a flow chart of a vehicle lane-changing interaction method according to an embodiment of the present invention. The vehicle includes a V2V interaction unit, such as Figure 1 As shown, the method includes the following steps:

[0034] Step S110: Detect whether there is an obstacle or accident ahead of the vehicle to determine whether the vehicle needs to change lanes.

[0035] First, it should be noted that there are two types of lane changes: active lane changes and passive lane changes. Active lane changes are when the driver actively controls the vehicle to change lanes; passive lane changes are when there is an obstacle ahead or an accident occurs, requiring the vehicle to change lanes.

[0036] In some embodiments, the vehicle includes a shooting unit, and a method for detecting whether there is an obstacle or accident ahead of the vehicle can be: using the shooting unit to shoot a picture ahead of the vehicle; and determining whether there is an obstacle or accident ahead of the vehicle based on the picture.

[0037] Specifically, a camera unit can be installed in the vehicle to capture images in front of the vehicle. The camera unit can be a camera. Alternatively, the vehicle's driving recorder can be used as the camera unit to capture images in front of the vehicle. After obtaining the images captured by the camera unit, it can be used to detect whether there are obstacles or accidents ahead.

[0038] In some embodiments, the vehicle includes a radar unit to detect whether there is an obstacle or accident in front of the vehicle, including: detecting whether there is an obstacle or accident in front of the vehicle by radar.

[0039] Specifically, a radar can be installed on the vehicle and used as a radar unit. The radar unit works as follows: the radar unit uses the principle of ultrasound. The radar device probe on the vehicle body emits ultrasound waves, which are reflected by obstacles. This allows the vehicle to identify obstacles in front of it and calculate the actual distance between the vehicle and the obstacle.

[0040] In this embodiment, the camera unit and radar unit can be connected to the vehicle control system. After detecting whether there is an obstacle or accident ahead of the vehicle using the aforementioned method, the camera unit can transmit the captured image to the vehicle control system, which then transmits it to the vehicle's display screen, causing the vehicle's display screen to display the image captured by the camera unit. The radar unit can also transmit the detected information to the vehicle control system, which can also control the display screen to display the information detected by the radar unit.

[0041] Step S120: When the vehicle needs to change lanes, receive a lane-changing instruction from the driver.

[0042] Specifically, if the camera or radar unit detects an obstacle or accident ahead of the vehicle (i.e., a lane change is required), the vehicle control system will proactively ask the driver to change lanes via a display screen. For example, the vehicle control system may display a prompt box on the display screen, which may include a message such as "Do you want to change lanes?", allowing the driver to select whether to control the vehicle to change lanes. When the driver selects to change lanes via the display screen, the vehicle control system will generate a lane change instruction.

[0043] In some embodiments, if the driver wants to actively change lanes, the driver can also convey the lane-changing intention by controlling the turn signal or performing voice interaction. When the vehicle control system receives the driver's lane-changing intention, the vehicle control system will generate a lane-changing instruction. As an example, when the driver wants to actively change from the current lane to the left lane, the driver can control the turn signal on the left side of the vehicle to light up. After the left turn signal lights up, the vehicle control system will receive the driver's lane-changing intention and control the vehicle to change from the current lane to the left lane. As another example, a voice recognition unit can be set in the vehicle. The voice recognition unit receives the lane-changing intention conveyed by the driver by collecting the sound information of the driver's voice input and identifying whether the sound information is the lane-changing information expressed by the driver.

[0044] Step S130: Control the V2V interaction unit to generate a lane change intention signal according to the lane change instruction, and send the lane change intention signal to the following vehicle to convey the lane change intention to the following vehicle.

[0045] Specifically, after the vehicle control system generates a lane change command, it sends the command to the V2V interaction unit. The V2V interaction unit generates a lane change intention signal based on the lane change command and sends the lane change intention signal to the following vehicle, thereby conveying the lane change intention to the following vehicle. It should be noted that V2V communication refers to wireless data transmission between motor vehicles. Therefore, the V2V interaction unit is capable of wirelessly transmitting the lane change intention signal to the following vehicle. Furthermore, the lane change intention signal may include information about the lane the vehicle intends to change to. For example, if the vehicle intends to change to the left lane of its current lane, the lane change intention signal may include: "The vehicle is traveling left and changing to the left lane."

[0046] Because not all vehicles surrounding the host vehicle are intelligent networked vehicles during driving, if the following vehicle is not an intelligent networked vehicle, the host vehicle cannot transmit a lane change intention signal to the following vehicle via the V2V interaction unit, thereby completing the lane change interaction process. Therefore, in some embodiments, the vehicle further includes an external display unit. After receiving the driver's lane change command, the vehicle lane change interaction method further includes: controlling the external display unit to display lane change intention information based on the lane change command.

[0047] Specifically, after the vehicle control system generates a lane change command, it also sends the lane change command to an external display unit, which then displays lane change intention information based on the lane change command. In this embodiment, the external display unit may utilize an eHMI (External Human Machine Interface). The eHMI not only displays lane change intention information but also emits corresponding lane change audio information, visually and audibly alerting following vehicles or pedestrians of the vehicle's lane change intention, thereby improving vehicle lane change safety.

[0048] Figure 2 FIG. 1 is a schematic diagram of the structure of an external display unit on a vehicle according to an embodiment of the present invention. Figure 2 As shown, the external display unit can be mounted on the exterior surface of the vehicle's trunk. The external display unit can display lane change intention information in text form, and can also display a corresponding icon that also indicates the lane change intention. For example, if the vehicle is changing lanes from its current lane to the left lane, the external display unit can display messages such as "Caution: Lane Change" or "Caution: Left Lane Change."

[0049] In some embodiments, the vehicle further includes a plurality of lighting units. After receiving the lane changing instruction from the driver, the vehicle lane changing interaction method further includes: determining the lane changing direction of the vehicle according to the lane changing instruction, and controlling the light units in the corresponding direction to flash according to the lane changing direction to display the lane changing intention information.

[0050] Specifically, the lighting unit can be a vehicle's turn signal. Multiple lighting units are installed at the rear of the vehicle, distributed on both sides of the rear of the vehicle. When the vehicle control system generates a lane change command, it determines the vehicle's lane change direction based on the lane change command. After determining the lane change direction, the vehicle control system controls the flashing of the corresponding lighting unit based on the lane change direction. As an example, if the lighting unit is a vehicle's turn signal and the vehicle changes from its current lane to the left lane, the lane change command indicates that the vehicle is changing to the left lane. Therefore, the vehicle control system can determine that the lane change direction is the left side of the vehicle and control the vehicle's left turn signal to flash at a certain frequency.

[0051] In some embodiments, upon receiving a picture sharing request from a following vehicle, the vehicle lane change interaction method further includes: transmitting the picture captured by the shooting unit to the following vehicle.

[0052] Specifically, in a passive lane-changing situation, the vehicle is controlled in the above-mentioned manner to convey the lane-changing intention to the following vehicle, and after the following vehicle receives the vehicle's lane-changing intention, the following vehicle can send a screen sharing request to the vehicle through V2V communication; after the vehicle receives the screen sharing request, the vehicle control system can control the vehicle's display to display the following vehicle's screen sharing request, and the driver can choose whether to agree to share the screen; if the driver chooses to agree to share the screen, the screen captured by the shooting unit can be sent to the following vehicle in the form of data through the V2V interaction unit to realize screen sharing.

[0053] Therefore, when a vehicle changes lanes actively or passively, it can transmit a lane change intention signal to the following vehicle through the vehicle's V2V interaction unit, display the vehicle's lane change intention information through an external display unit, and further display the lane change intention information through the lighting unit. By implementing lane change interaction in multiple ways, it can not only effectively realize lane change interaction between vehicles and between vehicles and pedestrians, but also improve driving safety and enhance the user experience.

[0054] Figure 3 FIG. 1 is a flow chart of a vehicle lane-changing interaction method according to another embodiment of the present invention. The vehicle includes a prompt unit such as Figure 3 As shown, the vehicle lane changing interaction method includes the following steps:

[0055] Step S310: Receive a lane-changing intention signal from a preceding vehicle.

[0056] Step S320: Controlling the prompt unit to issue a lane-changing intention prompt message of the preceding vehicle according to the lane-changing intention signal.

[0057] It should be noted that the lane change intention signal is generated and transmitted by the V2V interaction unit of the preceding vehicle when the preceding vehicle detects an obstacle or accident ahead and receives a lane change instruction from the driver. The specific method for generating and transmitting the lane change intention signal by the preceding vehicle can be referred to the method for generating and transmitting the lane change intention signal in the aforementioned embodiment and will not be further described here.

[0058] Specifically, after the vehicle control system receives a lane change intention signal from the preceding vehicle via V2V communication, it controls the prompt unit to issue a lane change intention prompt based on the lane change intention signal. In some embodiments, the prompt unit includes (but is not limited to): a vehicle-mounted screen, an augmented reality-head-up display (AR-HUD), an in-vehicle AI prompt assistant, etc.

[0059] As an example, when the vehicle control system receives a lane-changing intention signal, the vehicle control system can control the vehicle screen to display the lane-changing intention prompt information of the preceding vehicle in the form of text. If the preceding vehicle needs to change lanes from the current driving lane to the left lane, the vehicle control system can control the vehicle screen to display words such as "the preceding vehicle turns left and changes lanes to the left lane". It should be noted that the words such as "the preceding vehicle turns left and changes lanes to the left lane" displayed on the vehicle screen can serve as the lane-changing intention prompt information of the preceding vehicle. Similarly, when the vehicle control system receives a lane-changing intention signal, the vehicle control system can also control the AR-HUD to display the lane-changing intention prompt information of the preceding vehicle in the form of text.

[0060] As another example, when the vehicle control system receives a lane change intention signal, it can also control the onboard AI prompt assistant to issue a warning to the driver in the form of a prompt tone. If the vehicle ahead needs to change lanes from the current lane to the left lane, the vehicle control system can control the onboard AI prompt assistant to issue a prompt tone of "the vehicle ahead is turning left and changing lanes to the left lane" to inform the driver of the lane change intention of the vehicle ahead, thereby improving vehicle driving safety.

[0061] Since vehicle lane changing behavior is not a high-risk behavior such as fatigue driving behavior, when the prompt unit issues a prompt message about the lane changing intention of the preceding vehicle, it is possible to avoid using red warnings, beeping warnings and other strong awakening methods to remind the driver of the lane changing intention of the preceding vehicle, thereby reducing the driver's visual and auditory fatigue and improving the user experience while driving.

[0062] Figure 4 FIG. 1 is a flow chart of a method for sharing images between vehicles according to an embodiment of the present invention. Figure 4 As shown, in some embodiments, the vehicle lane change interaction method further includes the following steps:

[0063] Step S410: sending a picture sharing request to the preceding vehicle, and receiving the shared picture sent by the preceding vehicle, wherein the shared picture is captured by the capturing unit of the preceding vehicle.

[0064] Step S420: Control the display unit of the vehicle to display the shared screen.

[0065] Specifically, when the preceding vehicle is passively changing lanes, the vehicle can send a screen sharing request to the preceding vehicle through V2V communication; after receiving the screen sharing request, the driver of the preceding vehicle can choose whether to agree to share the screen; if the driver of the preceding vehicle chooses to agree to share the screen, the preceding vehicle can send the shared screen captured by the shooting unit to the present vehicle in the form of data through the V2V interaction unit.

[0066] After receiving the shared image sent by the preceding vehicle, the vehicle's control system can control the vehicle's display unit to display the shared image for the driver to view. It should be noted that the display unit can be a vehicle screen or an AR-HUD.

[0067] Figure 5 Schematic diagram of a shared screen displayed on a vehicle screen according to an embodiment of the present invention. Figure 5 As shown, when a vehicle receives a shared image sent by the preceding vehicle, the vehicle's control system can control the vehicle screen to display the shared image.

[0068] Figure 6 2 is a schematic diagram of an AR-HUD display sharing screen according to an embodiment of the present invention. Figure 7 Schematic diagram of the AR-HUD display position of an embodiment of the present invention. Figure 6 and Figure 7 As shown in the figure, when a vehicle receives a shared image from the preceding vehicle, the vehicle's control system can control the AR-HUD to display the shared image. Furthermore, when the preceding vehicle is passively changing lanes, the vehicle's AR-HUD display of the preceding vehicle's lane change intention can change from white to blue to alert the driver that the preceding vehicle's lane change is passive. When the preceding vehicle is actively changing lanes, the AR-HUD display of the preceding vehicle's lane change intention remains primarily white, and no shared image is required.

[0069] Therefore, the vehicle can receive the lane-changing intention signal from the vehicle in front through V2V communication, and prompt the driver of the lane-changing intention of the vehicle in front through the car screen, AR-HUD, on-board AI prompt assistant, etc., which can effectively improve the safety of vehicle driving and thus enhance the user experience.

[0070] In order to implement the above embodiments, the present invention also proposes a vehicle, including a memory and a processor, wherein a computer program is stored on the memory, and when the processor executes the computer program, it implements the vehicle lane changing interaction method proposed according to one embodiment of the present invention or the vehicle lane changing interaction method proposed according to another embodiment of the present invention.

[0071] In addition, it should be noted that other components and functions of the vehicle according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here to reduce redundancy.

[0072] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0073] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0074] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0075] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0077] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0078] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0079] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A vehicle lane-changing interaction method, characterized in that: The vehicle includes a V2V interaction unit, and the method includes: Detecting whether there is an obstacle or accident ahead of the vehicle to determine whether the vehicle needs to change lanes; When the vehicle has a lane change requirement, receiving a lane change instruction from the driver; controlling the V2V interaction unit to generate a lane change intention signal according to the lane change instruction, and sending the lane change intention signal to the following vehicle to convey the lane change intention to the following vehicle; The vehicle includes a photographing unit, and detecting whether there is an obstacle or accident ahead of the vehicle includes: Using the shooting unit to shoot the image in front of the vehicle; determining whether there is an obstacle or accident ahead of the vehicle according to the image; When receiving a screen sharing request from a following vehicle, the method further includes: The image captured by the shooting unit is transmitted to the following vehicle.

2. The vehicle lane-changing interaction method according to claim 1, characterized in that: The vehicle includes a radar unit, and detecting whether there is an obstacle or accident ahead of the vehicle includes: The radar is used to detect whether there is an obstacle or accident ahead of the vehicle.

3. The vehicle lane-changing interaction method according to any one of claims 1-2, characterized in that: The vehicle further includes an external display unit. After receiving a lane change instruction from the driver, the method further includes: The external display unit is controlled to display lane change intention information according to the lane change instruction.

4. The vehicle lane-changing interaction method according to any one of claims 1-2, characterized in that: The vehicle further includes a plurality of lighting units. After receiving a lane change instruction from the driver, the method further includes: The lane-changing direction of the vehicle is determined according to the lane-changing instruction, and the light unit in the corresponding direction is controlled to flash according to the lane-changing direction to display the lane-changing intention information.

5. A vehicle lane-changing interaction method, characterized in that: The vehicle includes a prompt unit, and the method includes: Receiving a lane change intention signal from a preceding vehicle, the lane change intention signal being generated and sent by the preceding vehicle's V2V interaction unit when the preceding vehicle detects an obstacle or accident ahead and receives a lane change instruction from the driver; controlling the prompting unit to issue lane-changing intention prompting information of the preceding vehicle according to the lane-changing intention signal; The method further comprises: Sending a picture sharing request to the preceding vehicle and receiving a shared picture sent by the preceding vehicle, wherein the shared picture is captured by the capturing unit of the preceding vehicle; A display unit of the vehicle is controlled to display the shared screen.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle lane changing interaction method according to any one of claims 1 to 4 or the vehicle lane changing interaction method according to claim 5 is implemented.

7. A vehicle, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the vehicle lane changing interaction method according to any one of claims 1 to 4 or the vehicle lane changing interaction method according to claim 5 is implemented.

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