A vehicle turn signal control method, system, storage medium and intelligent vehicle

Abstract

The application provides a vehicle turn signal control method, system, storage medium and intelligent vehicle, and the method comprises the following steps: capturing a driving video of a target vehicle located at the periphery of the target vehicle in driving by a camera element preset by the target vehicle, detecting a lane line of a driving direction of the target vehicle according to the driving video, and judging whether the target vehicle is currently in a first lane within the lane line; if yes, obtaining vehicle data of the target vehicle within the first lane, wherein the vehicle data at least comprises motion state data of the target vehicle within the first lane; determining a first position of the target vehicle within the first lane according to the driving video, and predicting a second position of the target vehicle at a next moment according to the vehicle data of the target vehicle; calculating a deviation probability of the target vehicle from the first lane to a second lane according to the vehicle data and the second position; and if the deviation probability is greater than a preset value, controlling a turn signal corresponding to the target driving direction of the target vehicle to be automatically turned on. The application aims at solving the technical problem that the opening timing of the turn signal in the prior art is not accurate enough.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a vehicle turn signal control method, system, storage medium and intelligent vehicle. BACKGROUND

[0002] Since the beginning of the popularization of automobiles in the early 20th century, the turn signal invented in 1908 has been in existence for more than a hundred years. In the long history of automobile evolution, the operation and use of the turn signal have not changed much, which is enough to prove the importance of the turn signal to driving. However, according to relevant analysis and statistics, traffic accidents caused by the failure of some drivers to turn on the corresponding side turn signal in lane changing or turning scenarios are high.

[0003] In the prior art, the automatic opening of the turn signal is usually based on the turning direction of the steering wheel, that is, when the steering wheel turns left, the turn signal on the left side of the vehicle is turned on, and when the steering wheel turns right, the turn signal on the right side of the vehicle is turned on. However, in the case where the road itself has a certain bending amplitude, controlling the steering wheel to turn a certain amplitude will also cause the turn signal in the corresponding direction to be turned on. In fact, such a driving scenario does not require a turn signal to be sent out, and therefore, the automatic opening of the turn signal in the prior art has the technical problem of inaccurate opening timing. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a vehicle turn signal control method, system, storage medium and intelligent vehicle, which solves the technical problem of inaccurate opening timing of the automatic opening of the turn signal in the prior art.

[0005] The first aspect of the present application provides a vehicle turn signal control method applied to an intelligent vehicle, the method comprising:

[0006] capturing a driving video of a target vehicle located in the periphery of the target vehicle in driving by a camera element preset by the target vehicle, detecting a lane line in the driving direction of the target vehicle according to the driving video, and determining whether the target vehicle is currently in a first lane within the lane line;

[0007] If yes, obtaining vehicle data of the target vehicle within the first lane, wherein the vehicle data at least includes motion state data of the target vehicle within the first lane;

[0008] determining a first position of the target vehicle currently within the first lane according to the driving video, and predicting a second position of the target vehicle at the next moment according to the vehicle data of the target vehicle;

[0009] According to the vehicle data and the second position, a deviation probability of the target vehicle switching from the first lane to the second lane is calculated;

[0010] If the deviation probability is greater than a preset value, a turn signal corresponding to a target driving direction of the target vehicle is automatically turned on.

[0011] According to an aspect of the above technical solution, in the step of determining a first position of the target vehicle in the first lane according to the driving video and predicting a second position of the target vehicle at a next moment according to vehicle data of the target vehicle, the step of determining the first position of the target vehicle in the first lane according to the driving video specifically comprises:

[0012] According to the driving video, an image coverage area perpendicular to an optical axis of the camera element at a preset distance in front of the target vehicle is selected;

[0013] According to the image coverage area, distances from road vanishing points on both sides of the image coverage area to the camera element are calculated, and a distance ratio of the distances on both sides is determined;

[0014] According to the distance ratio, the current position of the target vehicle is determined to determine the first position of the target vehicle in the first lane.

[0015] According to an aspect of the above technical solution, in the step of determining a first position of the target vehicle in the first lane according to the driving video and predicting a second position of the target vehicle at a next moment according to vehicle data of the target vehicle, the step of predicting the second position of the target vehicle at the next moment according to the vehicle data of the target vehicle specifically comprises:

[0016] Latest state data fed back by each control unit of the vehicle is obtained, and vehicle data of the target vehicle is generated based on the latest state data;

[0017] According to the vehicle data, it is determined whether there is a steering control signal and a lateral acceleration change signal;

[0018] If yes, a steering angle of a steering wheel and a current speed of the target vehicle are obtained;

[0019] According to the current speed and the steering angle of the target vehicle, the second position of the target vehicle at the next moment is predicted.

[0020] According to an aspect of the above technical solution, in the step of calculating the second position of the target vehicle at the next moment according to the current speed and the steering angle of the target vehicle, the step specifically comprises:

[0021] Calculate the lateral deviation speed of the target vehicle at the first position based on the target vehicle's current speed and steering angle;

[0022] Based on the lateral deviation speed, calculate the lateral deviation value of the target vehicle within one cycle.

[0023] Based on the target vehicle's current speed and lateral deviation, predict the target vehicle's second position at the next moment.

[0024] According to one aspect of the above technical solution, after the step of calculating the deviation probability of the target vehicle switching from the first lane to the second lane based on the vehicle data and the second position, the method includes:

[0025] Determine whether the lateral deviation speed is greater than a preset deviation speed threshold;

[0026] If so, determine whether there are any obstacles in the target vehicle's target driving direction based on the driving video;

[0027] If not, the turn signal corresponding to the target vehicle's direction of travel will be automatically activated.

[0028] According to one aspect of the above technical solution, if there is a driving obstacle in the target driving direction of the target vehicle, the method further includes:

[0029] Control the turn signals on both sides of the target vehicle to turn on simultaneously and flash at a preset flashing speed;

[0030] Based on the driving video, video frames of the target vehicle after it deviates from the first lane are extracted and stored.

[0031] A second aspect of the present invention is to provide a vehicle turn signal control system, the system comprising:

[0032] The judgment module is used to capture driving video of the target vehicle while it is driving and located outside the target vehicle through a camera element preset on the target vehicle, detect the lane line in the driving direction of the target vehicle based on the driving video, and determine whether the target vehicle is currently in the first lane within the lane line.

[0033] The data acquisition module is used to acquire vehicle data of the target vehicle in the first lane when the judgment module determines that the target vehicle is currently in the first lane within the lane line, wherein the vehicle data includes at least the motion state data of the target vehicle in the first lane;

[0034] a data processing module, configured to determine a first position of the target vehicle in the first lane according to the driving video, and predict a second position of the target vehicle at a next moment according to vehicle data of the target vehicle;

[0035] a calculation module, configured to calculate a deviation probability of the target vehicle from switching from the first lane to the second lane according to the vehicle data and the second position;

[0036] a control module, configured to control the target vehicle to automatically turn on a turn light corresponding to a target driving direction if the deviation probability is greater than a preset value.

[0037] According to an aspect of the above technical solution, the data processing module is specifically configured to:

[0038] select an image coverage area perpendicular to an optical axis of the camera element at a preset distance in front of the target vehicle according to the driving video;

[0039] calculate distances from road vanishing points on both sides of the image coverage area to the camera element according to the image coverage area, and determine a distance ratio of the distances on both sides;

[0040] determine the current position of the target vehicle according to the distance ratio, so as to determine the first position of the target vehicle in the first lane.

[0041] A third aspect of the present application provides a computer readable storage medium having computer instructions stored thereon, the instructions being executed by a processor to implement the steps of the method in the above technical solution.

[0042] A fourth aspect of the present application provides an intelligent vehicle, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method in the above technical solution when executing the program.

[0043] Compared with the prior art, the turn light control method, system, storage medium and intelligent vehicle have the following beneficial effects:

[0044] The driving video of the target vehicle is acquired, lane lines are detected based on the driving video, and it is determined whether the target vehicle is in the first lane within the lane lines, when the target vehicle is in the first lane, the first position of the target vehicle is determined, the vehicle data of the target vehicle is analyzed to predict the second position of the target vehicle at the next moment, the deviation probability of the target vehicle from the first lane to the second lane is calculated, that is, the driving intention of the driver is determined, when the deviation probability is greater than a preset value, the target vehicle is controlled to automatically turn on the turn signal corresponding to the target driving direction, so that the driving intention of the driver can be determined based on the driving video and the vehicle data to control the turn signal to be turned on in advance, and therefore, the turn signal control method can solve the technical problem that the turn-on time of the turn signal is not accurate in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a flowchart of the vehicle turn signal control method in the first embodiment of the present application.

[0046] Figure 2 It is a structural block diagram of the vehicle turn signal control system in the third embodiment of the present application.

[0047] The present application will be described in more detail with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present application, the present application will be described more fully with reference to the accompanying drawings. The present application is shown in several embodiments in the drawings. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0049] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0051] Embodiment one

[0052] Please refer to Figure 1 The first embodiment of the present application provides a vehicle turn signal control method applied to an intelligent vehicle, in which the method comprises steps S10-S50:

[0053] In step S10, a camera element preset by a target vehicle is used to capture a driving video of the target vehicle in a driving process, a lane line in a driving direction of the target vehicle is detected according to the driving video, and it is determined whether the target vehicle is currently in a first lane within the lane line.

[0054] The preset camera element includes but is not limited to a camera for intelligent driving of the vehicle, a driving recorder, and a camera specifically installed for capturing the driving video. For example, in the embodiment, the camera element is a camera specifically installed for capturing the driving video, which is installed on a center axis of the vehicle, such as the front of the vehicle or the inside of the front windshield. Specifically, the camera element is installed on the inside of the front windshield for capturing the driving video when the vehicle is driving forward.

[0055] In the embodiment, after the driving video is captured by the camera element, the lane line in the driving direction of the target vehicle is detected based on the driving video, and it is determined whether the target vehicle is currently in the first lane within the lane line based on the driving video.

[0056] Specifically, the extension direction of the road and the position of the target vehicle in the road can be determined through the driving video, so as to determine whether the target vehicle is in the lane within the lane line based on the position of the target vehicle in the road.

[0057] It should be noted that in the embodiment, the turn signal is correspondingly turned on based on the specific driving behavior only when the target vehicle is in the lane. That is, when the target vehicle is not in the lane, the turn signal will not be turned on even under the specific driving behavior. In other words, when the target vehicle is driving on a road without a lane line, the turn signal will not be turned on. That is, the application of the turn signal control method shown in the embodiment is based on a road with a relative standard lane line, such as a highway or an urban road.

[0058] When the target vehicle is in the first lane within the lane line, the method shown in the embodiment proceeds to step S20 to determine the turning-on condition of the turn signal.

[0059] In step S20, vehicle data of the target vehicle in the first lane is obtained, wherein the vehicle data at least includes motion state data of the target vehicle in the first lane.

[0060] In the embodiment, the purpose of obtaining the vehicle data of the target vehicle in the first lane is to determine whether the driver has a steering intention based on the vehicle data, and when it is determined that the driver has a steering intention based on the vehicle data, the turn signal of the target vehicle is controlled to be turned on correspondingly, otherwise, the turn signal is not turned on.

[0061] Specifically, the vehicle data is obtained by a plurality of control units (ECU) of the target vehicle, and after the corresponding data is obtained, the driving intention of the driver is analyzed based on the vehicle data, so as to determine whether the turn signal needs to be controlled to be turned on.

[0062] Among them, the vehicle data at least includes motion state data of the target vehicle in the first lane, such as the speed of the target vehicle and the steering wheel rotation angle.

[0063] It can be understood that when the speed of the vehicle is faster, the steering wheel does not need to be rotated too much to control the target vehicle to turn (change lanes), and vice versa, when the speed of the vehicle is low, the steering wheel needs to be rotated more to control the target vehicle to turn (change lanes). Therefore, the purpose of obtaining the motion state data is to determine the speed of the vehicle and the intention of the steering wheel rotation at the speed, so as to finally determine the driving intention of the driver, and to determine whether the turn signal needs to be turned on in this case.

[0064] Step S30, according to the driving video, determining a first position of the target vehicle currently in the first lane, and predicting a second position of the target vehicle at the next moment according to the vehicle data of the target vehicle.

[0065] In the embodiment, in order to determine the intention of the driver, it is necessary to first determine the position of the target vehicle currently, that is, when there are lane lines on the road, the first position of the target vehicle in the first lane, and then predict the position of the target vehicle at the next moment, that is, the second position, based on the current motion state of the target vehicle.

[0066] Specifically, only when the target vehicle is currently in the first lane, the second position of the target vehicle at the next moment is predicted based on the motion state of the target vehicle. It should be noted that the first lane and the second lane are relative, and the first lane can be any lane of the road currently traveled by the target vehicle, and the second lane is any lane of the road currently traveled by the target vehicle except the first lane; in other words, the first lane is the initial lane of the target vehicle, and the second lane is the target lane of the target vehicle.

[0067] Among them, the second position of the target vehicle at the next moment is predicted according to the vehicle data of the target vehicle, specifically:

[0068] Based on the vehicle data of the target vehicle, the speed and the steering wheel angle of the target vehicle are determined, and based on the speed and the steering wheel angle, the second position of the target vehicle at the next moment is calculated. The next moment is, for example, 1s later, 2s later, 3s later, etc. When the vehicle speed is high, the time interval of the next moment can be set to be shorter. For example, when a vehicle travels at a speed of 120km / h on a highway, it can travel dozens of meters every 1s. The span of dozens of meters or even hundreds of meters in a few seconds is enough to realize lane changing. Therefore, the time interval of the next moment is determined based on the vehicle speed.

[0069] In step S40, the deviation probability of the target vehicle from the first lane to the second lane is calculated based on the vehicle data and the second position.

[0070] In step S30, the second position where the target vehicle may be at the next moment has been predicted. Since the vehicle is traveling forward, the second position is, for example, directly in front of the first position, left front, or right front.

[0071] In this embodiment, the deviation probability of the target vehicle from the first lane to the second lane is calculated mainly to verify the possible direction of travel of the target vehicle, so as to determine whether the target vehicle will deviate from the lane (i.e. the first lane) to the other lane (i.e. the second lane) based on the possible direction of travel, and thus determine whether the turn signal corresponding to the target driving direction needs to be turned on in advance.

[0072] In step S50, if the deviation probability is greater than a preset value, the turn signal corresponding to the target driving direction of the target vehicle is automatically turned on.

[0073] In this embodiment, the preset value of the deviation probability is 95% or more. That is, when the deviation probability of the target vehicle from the first lane to the second lane is 95% or more, the system will determine that the driver will drive the target vehicle to change lanes to the second lane. Therefore, when the driver controls the car to change lanes, the system will automatically control the turn signal corresponding to the target driving direction to be turned on.

[0074] For example, when the driver drives the target vehicle to travel in the left second lane on the highway, if the driver wants to control the target vehicle to overtake the front vehicle from the left side, the steering wheel will be turned to the left side. When the steering wheel is turned to a certain angle, the system will determine that the driver has the intention to change lanes to the left side based on the speed and the steering wheel angle of the vehicle. Then the system will control the left turn signal of the target vehicle to be turned on, so as to send a turn signal and timely remind the following vehicle.

[0075] Compared with the prior art, the vehicle turn signal control method shown in this embodiment has the following beneficial effects:

[0076] The target vehicle driving video is acquired, lane lines are detected based on the driving video, and it is determined whether the target vehicle is in the first lane within the lane lines, when the target vehicle is in the first lane, the first position of the target vehicle is determined, the vehicle data of the target vehicle is analyzed to predict the second position of the target vehicle at the next moment, the deviation probability of the target vehicle from the first lane to the second lane is calculated, that is, the driving intention of the driver is determined, when the deviation probability is greater than a preset value, the target vehicle and the corresponding turn signal in the target driving direction are automatically turned on, so that the application can determine the driver's intention based on the driving video and vehicle data to control the turn signal to be turned on in advance, and therefore the turn signal control method can solve the technical problem that the turn-on time of the turn signal in the prior art is not accurate.

[0077] Embodiment two

[0078] The second embodiment of the application provides a turn signal control method, and the method comprises the steps of:

[0079] In the embodiment, in the step of determining the first position of the target vehicle in the first lane based on the driving video and predicting the second position of the target vehicle at the next moment based on the vehicle data of the target vehicle, the step of determining the first position of the target vehicle in the first lane based on the driving video comprises the following steps.

[0080] According to the driving video, an image coverage area perpendicular to the optical axis of the camera element is selected at a preset distance in front of the target vehicle.

[0081] According to the image coverage area, the distance from the road vanishing point on both sides of the image coverage area to the camera element is calculated, and the distance ratio of the distances on both sides is determined.

[0082] According to the distance ratio, the current position of the target vehicle is determined to determine the first position of the target vehicle in the first lane.

[0083] In the embodiment, in the step of determining the first position of the target vehicle in the first lane based on the driving video and predicting the second position of the target vehicle at the next moment based on the vehicle data of the target vehicle, the step of predicting the second position of the target vehicle at the next moment based on the vehicle data of the target vehicle comprises the following steps.

[0084] The latest state data fed back by each control unit of the vehicle is acquired, and the vehicle data of the target vehicle is generated based on the latest state data.

[0085] According to the vehicle data, it is determined whether there is a steering control signal and a lateral acceleration change signal.

[0086] If yes, a steering angle of the steering wheel and a current speed of the target vehicle are acquired;

[0087] According to the current speed and the steering angle of the target vehicle, a second position of the target vehicle at a next time is predicted.

[0088] In the embodiment, the step of calculating the second position of the target vehicle at the next time according to the current speed and the steering angle of the target vehicle specifically comprises:

[0089] According to the current speed and the steering angle of the target vehicle, a lateral deviation speed of the target vehicle at the first position is calculated;

[0090] According to the lateral deviation speed, a lateral deviation value of the target vehicle within a period of time is calculated;

[0091] According to the current speed and the lateral deviation value of the target vehicle, the second position of the target vehicle at the next time is predicted.

[0092] In the embodiment, after the step of calculating the deviation probability of the target vehicle from the first lane to the second lane according to the vehicle data and the second position, the method comprises:

[0093] It is judged whether the lateral deviation speed is greater than a preset deviation speed threshold;

[0094] If yes, it is judged whether there is a driving obstacle in a target driving direction of the target vehicle according to the driving video;

[0095] If no, a turn signal corresponding to the target driving direction of the target vehicle is automatically turned on.

[0096] In the embodiment, if there is a driving obstacle in the target driving direction of the target vehicle, the method further comprises:

[0097] The turn signals of the target vehicle on both sides are simultaneously turned on and strobed at a preset strobe speed.

[0098] Based on the driving video, a video frame after the target vehicle deviates from the first lane is intercepted and stored.

[0099] Compared with the prior art, the vehicle turn signal control method shown in the embodiment has at least the following beneficial effects:

[0100] By acquiring a driving video of a target vehicle when the target vehicle is driving, lane lines are detected based on the driving video, and it is determined whether the target vehicle is in a first lane within the lane lines, when the target vehicle is in the first lane, a first position of the target vehicle is determined, by analyzing vehicle data of the target vehicle, a second position of the target vehicle at a next moment is predicted, a deviation probability of the target vehicle deviating from the first lane to a second lane is calculated, that is, a driving intention of the driver is determined, when the deviation probability is greater than a preset value, a turn signal corresponding to a target driving direction of the target vehicle is automatically turned on, so that the present application can determine the driver's intention based on the driving video and the vehicle data to control the turn signal to be turned on in advance, and therefore the turn signal control method can solve the technical problem that the turn signal opening time is not accurate in the prior art.

[0101] Embodiment three

[0102] Please refer to Figure 2 The third embodiment of the present application provides a vehicle turn signal control system applied to an intelligent vehicle, in this embodiment, the system comprises a judgment module 10, a data acquisition module 20

[0103] The judgment module 10 is used for shooting a driving video of a target vehicle located in the periphery of the target vehicle in driving by a preset camera element of the target vehicle, detecting lane lines of a driving direction of the target vehicle according to the driving video, and judging whether the target vehicle is currently in a first lane within the lane lines.

[0104] Among them, the preset camera element includes but is not limited to a camera for intelligent driving of the vehicle, a driving recorder and a camera specially installed for shooting the driving video. For example, in this embodiment, the camera element is a camera specially installed for shooting the driving video, which is installed on the center axis of the vehicle, such as the front of the vehicle or the inside of the front windshield. Specifically, the camera element is installed inside the front windshield for shooting the driving video when the vehicle is driving forward.

[0105] In this embodiment, after the driving video is shot by the camera element, the lane lines of the driving direction of the target vehicle are detected based on the driving video, and it is judged whether the target vehicle is currently in the first lane within the lane lines based on the driving video.

[0106] Specifically, the extension direction of the road and the position of the target vehicle in the road can be determined based on the driving video, so as to judge whether the target vehicle is in the lane within the lane lines based on the position of the target vehicle in the road.

[0107] It should be noted that in the present embodiment, the corresponding opening of the turn signal is controlled based on the specific driving behavior only when the target vehicle is within the lane; that is, when the target vehicle is not within the lane line, the turn signal will not be opened even under the specific driving behavior, in other words, when the target vehicle is driving on a road without lane lines, the turn signal will not be opened; that is, the use of the turn signal control method shown in the present embodiment is based on roads with relative standard lane lines, such as highways, urban roads, etc.

[0108] When the target vehicle is in the first lane within the lane line, the method shown in the present embodiment enters step S20 to determine the opening condition of the turn signal opening.

[0109] The data acquisition module 20 is configured to acquire vehicle data of the target vehicle within the first lane when the judgment module 10 determines that the target vehicle is currently in the first lane within the lane line, wherein the vehicle data at least includes motion state data of the target vehicle within the first lane.

[0110] In the present embodiment, the purpose of acquiring the vehicle data of the target vehicle within the first lane is to determine whether the driver has a steering intention based on the vehicle data, and when the driver is determined to have a steering intention based on the vehicle data, the turn signal of the target vehicle will be controlled to be opened accordingly, otherwise, it will not be opened.

[0111] Specifically, the vehicle data is acquired by a plurality of control units (ECU) of the target vehicle, and after the corresponding data is acquired, the driving intention of the driver is analyzed based on the vehicle data, so as to determine whether the turn signal needs to be opened.

[0112] Among them, the vehicle data at least includes motion state data of the target vehicle within the first lane, such as the speed of the target vehicle and the steering wheel rotation angle.

[0113] It can be understood that when the vehicle speed is faster, the steering wheel does not need to be rotated too much to control the target vehicle to turn (change lanes), and vice versa, when the vehicle speed is lower, the steering wheel needs to be rotated more to control the target vehicle to turn (change lanes). Therefore, the purpose of acquiring the motion state data is to determine the vehicle speed and the intention of the steering wheel rotation under the speed, so as to finally determine the driving intention of the driver, and to determine whether the turn signal needs to be opened under this condition.

[0114] The data processing module 30 is configured to determine a first position of the target vehicle within the first lane according to the driving video, and predict a second position of the target vehicle at the next moment according to the vehicle data of the target vehicle.

[0115] In the embodiment, to determine the driver's intention, first, the current position of the target vehicle needs to be determined, i.e., the first position of the target vehicle in the first lane when there are lane lines on the road, and then the position of the target vehicle at the next moment, i.e., the second position, is predicted based on the current motion state of the target vehicle.

[0116] Specifically, the second position of the target vehicle at the next moment is predicted based on the motion state of the target vehicle only when the target vehicle is currently in the first lane. It should be noted that the first lane and the second lane are relative, and the first lane can be any lane on the road where the target vehicle is currently driving, and the second lane is any lane on the road where the target vehicle is currently driving except the first lane; in other words, the first lane is the initial lane of the target vehicle, and the second lane is the target lane of the target vehicle.

[0117] Specifically, the second position of the target vehicle at the next moment is predicted based on the motion state of the target vehicle only when the target vehicle is currently in the first lane. It should be noted that the first lane and the second lane are relative, and the first lane can be any lane on the road where the target vehicle is currently driving, and the second lane is any lane on the road where the target vehicle is currently driving except the first lane; in other words, the first lane is the initial lane of the target vehicle, and the second lane is the target lane of the target vehicle.

[0118] Based on the vehicle data of the target vehicle, the speed and the steering angle of the steering wheel of the target vehicle are determined, and based on the speed and the steering angle of the steering wheel of the target vehicle, the second position of the target vehicle at the next moment is calculated. The next moment is, for example, 1s later, 2s later, 3s later, etc. When the vehicle speed is high, the time interval of the next moment can be set to be shorter, for example, when the vehicle is driving at a speed of 120km / h on a highway, the vehicle can travel dozens of meters every 1s. The span of dozens of meters or even hundreds of meters in a few seconds is enough to realize lane changing, so the time interval of the next moment is determined based on the vehicle speed.

[0119] The data processing module is specifically configured to:

[0120] According to the driving video, an image coverage area perpendicular to the optical axis of the camera element is selected at a preset distance in front of the target vehicle;

[0121] According to the image coverage area, the distance from the vanishing point on both sides of the image coverage area to the camera element is calculated, and the distance ratio of the distances on both sides is determined;

[0122] According to the distance ratio, the current position of the target vehicle is determined to determine the first position of the target vehicle in the first lane.

[0123] The calculation module 40 is configured to calculate the deviation probability of the target vehicle from the first lane to the second lane based on the vehicle data and the second position.

[0124] In the embodiment, the deviation probability of the target vehicle switching from the first lane to the second lane is calculated, mainly to verify the possible driving direction of the target vehicle, so as to determine whether the target vehicle will deviate from the lane (i.e. the first lane) and switch to the other lane (i.e. the second lane) based on the possible driving direction, so as to determine whether the turn signal needs to be turned on in advance.

[0125] The control module is configured to control the turn signal corresponding to the target driving direction of the target vehicle to be automatically turned on if the deviation probability is greater than a preset value.

[0126] In the embodiment, the preset value of the deviation probability is 95% or above, that is, when the deviation probability of the target vehicle deviating from the first lane to the second lane is 95% or above, the system will determine that the driver will drive the target vehicle to change lanes to the second lane, and the system will control the turn signal corresponding to the target driving direction to be automatically turned on when the driver controls the vehicle to change lanes.

[0127] For example, when the driver drives the target vehicle to drive on the left second lane on the highway, if the driver wants to control the target vehicle to overtake the front vehicle from the left side, the steering wheel will be turned to the left side, and when the steering wheel is turned to a certain angle, the system will determine that the driver has the intention to change lanes to the left side based on the speed of the vehicle and the turning angle of the steering wheel. The system will control the left turn signal of the target vehicle to be turned on, so as to send a turn signal and timely prompt the following vehicle.

[0128] Compared with the prior art, the vehicle turn signal control system shown in the embodiment has the following beneficial effects:

[0129] By acquiring the driving video of the target vehicle when driving, detecting the lane line based on the driving video, and determining whether the target vehicle is in the first lane within the lane line, when the target vehicle is in the first lane line, the first position of the target vehicle is determined, the vehicle data of the target vehicle is analyzed to predict the second position of the target vehicle at the next moment, the deviation probability of the target vehicle deviating from the first lane to the second lane is calculated, that is, the driving intention of the driver is determined, and when the deviation probability is greater than the preset value, the turn signal corresponding to the target driving direction of the target vehicle is controlled to be automatically turned on, so that the present application can determine the driving intention of the driver based on the driving video and the vehicle data to control the turn signal to be turned on in advance. Therefore, the turn signal control system shown in the present application can solve the technical problem that the turn signal opening time in the prior art is not accurate enough.

[0130] Embodiment four

[0131] The fourth embodiment of the present application provides a computer readable storage medium having computer instructions stored thereon, which are executed by a processor to implement the steps of the method described in the above embodiments.

[0132] Fifth embodiment

[0133] A fifth embodiment of the application provides an intelligent vehicle comprising a memory, a processor and a computer program stored on the memory and loadable on the processor, the processor implementing the steps of the method described in the above embodiments when executing the program.

[0134] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0135] The above described embodiments only express several implementation manners of the application, which are described in a more specific and detailed manner, but cannot be understood as the limitation of the patent scope of the application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the application, which are all within the protection scope of the application. Therefore, the protection scope of the patent of the application should be subject to the appended claims.

Claims

1. A vehicle turn signal control method applied to an intelligent vehicle, characterized in that, The method comprises: A camera element preset by a target vehicle captures a driving video of the target vehicle in a driving process, detects a lane line of a driving direction of the target vehicle according to the driving video, and determines whether the target vehicle is currently in a first lane within the lane line; If yes, vehicle data of the target vehicle within the first lane is acquired, wherein the vehicle data at least comprises motion state data of the target vehicle within the first lane; A first position of the target vehicle within the first lane is determined according to the driving video, and a second position of the target vehicle at a next moment is predicted according to the vehicle data of the target vehicle; A deviation probability of the target vehicle from the first lane to a second lane is calculated according to the vehicle data and the second position; If the deviation probability is greater than a preset value, a turn signal corresponding to a target driving direction of the target vehicle is automatically turned on; The step of determining the first position of the target vehicle within the first lane according to the driving video comprises: An image coverage area perpendicular to an optical axis of the camera element at a preset distance in front of the target vehicle is selected according to the driving video; Distances from road vanishing points on both sides of the image coverage area to the camera element are calculated according to the image coverage area, and a distance ratio of the distances on both sides is determined; The current position of the target vehicle is determined according to the distance ratio, so as to determine the first position of the target vehicle within the first lane; The step of predicting the second position of the target vehicle at the next moment according to the vehicle data of the target vehicle comprises: Latest state data fed back by each control unit of the vehicle is acquired, and the vehicle data of the target vehicle is generated based on the latest state data; Whether there is a steering control signal and a lateral acceleration change signal is determined according to the vehicle data; If yes, a steering angle of a steering wheel and a current speed of the target vehicle are acquired; The second position of the target vehicle at the next moment is predicted according to the current speed and the steering angle of the target vehicle; The step of calculating the second position of the target vehicle at the next moment according to the current speed and the steering angle of the target vehicle comprises: A lateral deviation speed of the target vehicle at the first position is calculated according to the current speed and the steering angle of the target vehicle; A lateral deviation value of the target vehicle within a period of time is calculated according to the lateral deviation speed; The second position of the target vehicle at the next moment is predicted according to the current speed and the lateral deviation value of the target vehicle; After the step of calculating the deviation probability of the target vehicle from the first lane to the second lane according to the vehicle data and the second position, the method comprises: Whether the lateral deviation speed is greater than a preset deviation speed threshold is determined; If yes, whether there is a driving obstacle in the target driving direction of the target vehicle is determined according to the driving video. If not, the control module controls the target vehicle to automatically turn on the turn signal corresponding to the target driving direction.

2. The vehicle turn signal control method of claim 1, wherein If there is a traffic obstacle in the target driving direction of the target vehicle, the method further comprises: controlling the target vehicle to simultaneously turn on the double-sided turn signals and flash at a preset frequency; based on the driving video, intercepting the video frame of the target vehicle after deviating from the first lane and storing it.

3. A vehicle turn signal control system characterized by, The system is applied to the method of any one of claims 1-2, and the system comprises: a judgment module configured to capture a driving video of the target vehicle located in the periphery of the target vehicle in driving through a preset camera element of the target vehicle, detect a lane line of the target driving direction according to the driving video, and determine whether the target vehicle is currently in the first lane within the lane line; a data acquisition module configured to acquire vehicle data of the target vehicle within the first lane when the judgment module determines that the target vehicle is currently in the first lane within the lane line, wherein the vehicle data at least includes motion state data of the target vehicle within the first lane; a data processing module configured to determine a first position of the target vehicle currently within the first lane according to the driving video, and predict a second position of the target vehicle at the next moment according to the vehicle data of the target vehicle; a calculation module configured to calculate a deviation probability of the target vehicle from the first lane to the second lane according to the vehicle data and the second position; a control module configured to control the target vehicle to automatically turn on the turn signal corresponding to the target driving direction if the deviation probability is greater than a preset value.

4. The vehicle turn signal control system of claim 3, wherein The data processing module is specifically configured to: select an image coverage area perpendicular to the optical axis of the camera element at a preset distance in front of the target vehicle according to the driving video; calculate distances from the road vanishing points on both sides of the image coverage area to the camera element, determine a distance ratio of the distances on both sides, and determine the current position of the target vehicle according to the distance ratio to determine the first position of the target vehicle within the first lane. The instruction is executed by the processor to implement the steps of the method of any one of claims 1-2.

5. A computer readable storage medium having stored thereon computer instructions, wherein, The processor executes the program to implement the steps of the method of any one of claims 1-2.

6. An intelligent vehicle comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, ​

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