Lane change risk assessment methods, devices, equipment and storage media

Abstract

This application relates to a lane-change risk assessment method, apparatus, device, and storage medium, and pertains to the field of automotive technology. The method includes acquiring the state information of a target vehicle; determining a state risk coefficient for the target vehicle based on the state information; acquiring the driving information of the target vehicle and surrounding environmental information when the state risk coefficient indicates that lane changing is permissible; determining a road risk coefficient based on road information; determining a driving risk coefficient based on the driving information of the target vehicle and other vehicles; and determining the lane-change risk assessment result for the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient. This achieves a multi-dimensional assessment of lane-change risks during vehicle operation, thereby eliminating potential safety hazards during lane changes.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and more particularly to the field of autonomous driving technology, specifically to a lane change risk assessment method, apparatus, device, and storage medium. Background Technology

[0002] With the development of communication and computer technologies, autonomous driving technology has gained increasing attention and development. Major global companies are continuously increasing their investment and research in advanced autonomous driving, and autonomous driving functions adapted to different scenarios are being mass-produced. Furthermore, lane changing and automatic lane-changing functions are gradually being added to existing autonomous driving features. In highway scenarios, vehicles can change lanes based on driver instructions or by making their own judgments, reducing driver intervention and enabling vehicles to have a higher level of autonomous driving capabilities.

[0003] Currently, risk assessment for lane changing in autonomous driving primarily relies on the time-to-collision (TTC) metric. The perception system acquires the position and speed information of other vehicles to calculate collision events, and then conducts risk assessments based on these events. Ensuring reasonable timing, a smooth lane-changing process, and most importantly, overall safety during lane changing is crucial. Therefore, risk assessment of the vehicle's safety during lane changing is of paramount importance. Summary of the Invention

[0004] One of the purposes of this application is to provide a lane-changing risk assessment method, device, equipment and storage medium to solve the problem in related technologies that there is no multi-dimensional assessment of whether a vehicle is suitable for lane changing, which leads to safety hazards when a vehicle changes lanes.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] According to a first aspect of this application, a lane-change risk assessment method is provided. A lane-change risk assessment device acquires the state information of a target vehicle, including the operating states of sensors, communication modules, steering systems, braking systems, and drive systems on the target vehicle. Based on the state information, the device determines a state risk coefficient for the target vehicle, which indicates whether lane changing is permitted. Further, when the state risk coefficient indicates that lane changing is permitted, the device acquires the target vehicle's driving information and surrounding environment information. The driving information includes the target vehicle's speed and acceleration, and the surrounding environment information includes road information of the driving road and driving information of other vehicles on the driving road. Based on the road information, a road risk coefficient is determined; based on the target vehicle's driving information and the driving information of other vehicles, a driving risk coefficient is determined. Further, the device determines the lane-change risk assessment result for the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient.

[0007] Based on the aforementioned technical means, the lane-changing risk assessment method provided in this application first obtains the state information of the target vehicle, then determines the state risk coefficient of the target vehicle. If the state risk coefficient allows the target vehicle to change lanes, the road risk coefficient and driving risk coefficient are determined based on the driving information of the target vehicle and the surrounding environment information. Finally, based on the state risk coefficient, road risk coefficient, and driving risk coefficient of the target vehicle, the lane-changing risk of the target vehicle is comprehensively assessed from multiple dimensions to ensure the safety of the target vehicle during the lane-changing process.

[0008] In one possible implementation, determining the state risk coefficient of the target vehicle based on the state information of the target vehicle includes: determining a state risk coefficient indicating that the target vehicle is allowed to change lanes when the operating states of the sensors, communication modules, steering systems, braking systems, and drive systems on the target vehicle are in normal condition; and determining a state risk coefficient indicating that the target vehicle is not allowed to change lanes when the operating state of at least one of the sensors, communication modules, steering systems, braking systems, and drive systems on the target vehicle is in a fault condition.

[0009] Based on the aforementioned technical means, this application can determine whether the operating status of sensors, communication modules, steering systems, braking systems, and drive systems on a target vehicle is normal according to the state risk coefficient, thereby avoiding accidents caused by lane changes in the event of operational failures.

[0010] In one possible implementation, the method further includes: road information of the driving road including adjacent lane occupancy information, length, width, lane line type, and curvature of the driving road; road risk coefficient including lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient, wherein the adjacent lane occupancy information is used to indicate whether adjacent lanes are occupied.

[0011] Based on the aforementioned technical means, this application provides a more detailed lane change risk assessment coefficient, enabling a multi-dimensional and comprehensive assessment of lane change risks.

[0012] In one possible implementation, determining the road risk coefficient based on the road information of the driving road includes determining the lane occupancy risk coefficient based on the occupancy information of adjacent lanes.

[0013] Based on the above technical means, this application provides a method for determining the lane occupancy risk coefficient. Based on the lane occupancy risk coefficient, it is possible to avoid accidents caused by changing lanes when the lane is occupied.

[0014] In one possible implementation, determining the road risk coefficient based on the road information of the driving road includes: determining the lane risk coefficient based on whether the length of the adjacent lane is less than a preset length, whether the width of the adjacent lane is less than a preset width, and whether the lane line type meets the preset lane change type.

[0015] Based on the above technical means, this application provides a method for determining the lane risk coefficient. Based on the lane risk coefficient, it is possible to determine in advance whether the lane to be changed can meet the driving needs of the target vehicle, thus avoiding the failure to complete the lane change due to the lane being too short or the target vehicle driving over the lane line after changing lanes due to the lane being too narrow.

[0016] In one possible implementation, determining the road risk coefficient based on the road information of the driving road includes: determining the curve radius of the driving road based on the curvature of the driving road; and determining the curve radius risk coefficient based on the curve radius of the driving road and a preset mapping relationship between the curve radius and the curve radius risk coefficient.

[0017] Based on the above technical means, this application provides a method for determining the curve radius risk coefficient, which can prevent the target vehicle from changing lanes on a relatively sharp curve and causing an accident.

[0018] In one possible implementation, determining the lane-changing risk assessment result of the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient includes: determining a lane-changing risk score based on the state risk coefficient, road risk coefficient, and driving risk coefficient, wherein the lane-changing risk score is negatively correlated with the lane-changing risk of the target vehicle; if the lane-changing risk score is greater than a preset score, the lane-changing risk assessment result indicates that the target vehicle is allowed to change lanes; if the lane-changing risk score is less than or equal to the preset score, the lane-changing risk assessment result indicates that the target vehicle is not allowed to change lanes.

[0019] Based on the above-mentioned technical means, this application provides a method for comprehensively assessing lane change risks from multiple dimensions. By combining vehicle status, road status, and the driving status of other vehicles, the lane change risk is determined, thereby improving the safety of lane change risk assessment.

[0020] According to a second aspect of this application, a lane-changing risk assessment device is provided, comprising an acquisition unit and a determination unit. The acquisition unit is used to acquire state information of a target vehicle, including the operating states of sensors, communication modules, steering systems, braking systems, and drive systems on the target vehicle. The determination unit is used to determine a state risk coefficient of the target vehicle based on the state information, the state risk coefficient indicating whether lane changing is permitted. The acquisition unit is further used to acquire driving information and surrounding environmental information of the target vehicle when the state risk coefficient indicates that lane changing is permitted, including the driving information of the target vehicle's speed and acceleration, and the surrounding environmental information including road information of the driving road and driving information of other vehicles on the driving road. The determination unit is further used to determine a road risk coefficient based on the road information of the driving road. The determination unit is further used to determine a driving risk coefficient based on the driving information of the target vehicle and the driving information of other vehicles. The determination unit is further used to determine a lane-changing risk assessment result for the target vehicle based on the state risk coefficient, the road risk coefficient, and the driving risk coefficient.

[0021] In one possible implementation, the determining unit is further configured to determine a state risk coefficient indicating that the target vehicle is allowed to change lanes when the operating states of the sensors, communication module, steering system, braking system, and drive system on the target vehicle are in a normal state; and to determine a state risk coefficient indicating that the target vehicle is not allowed to change lanes when the operating state of at least one of the sensors, communication module, steering system, braking system, and drive system on the target vehicle is in a fault state.

[0022] In one possible implementation, the road information of the driving road includes adjacent lane occupancy information, the length and width of adjacent lanes, lane line type, and curvature of the driving road; the road risk coefficient includes lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient, and the adjacent lane occupancy information is used to indicate whether adjacent lanes are occupied.

[0023] In one possible implementation, the determining unit is further configured to determine the lane occupancy risk coefficient based on the occupancy information of adjacent lanes.

[0024] In one possible implementation, the determining unit is further configured to determine the lane risk coefficient based on whether the length of the adjacent lane is less than a preset length, whether the width of the adjacent lane is less than a preset width, and whether the lane line type meets the preset lane change type.

[0025] In one possible implementation, the determining unit is further configured to determine the curvature radius of the driving road based on the curvature of the driving road; and to determine the curvature radius risk coefficient based on the curvature radius of the driving road and a preset mapping relationship between the curvature radius and the curvature radius risk coefficient.

[0026] In one possible implementation, the determining unit is further configured to determine a lane-changing risk score based on the state risk coefficient, road risk coefficient, and driving risk coefficient, wherein the lane-changing risk score is negatively correlated with the lane-changing risk of the target vehicle; if the lane-changing risk score is greater than a preset score, the lane-changing risk assessment result indicates that the target vehicle is allowed to change lanes; if the lane-changing risk score is less than or equal to the preset score, the lane-changing risk assessment result indicates that the target vehicle is not allowed to change lanes.

[0027] According to a third aspect of this application, a lane-change risk assessment device is provided, deployed in a vehicle. The lane-change risk assessment device includes a memory and a processor, which are coupled together; the memory stores computer program code, which includes computer instructions; when the processor executes the computer instructions, the lane-change risk assessment device performs the lane-change risk assessment method provided in the first aspect and any possible implementation thereof.

[0028] According to the fourth aspect provided in this application, a computer-readable storage medium is provided, which stores instructions that, when executed on a lane change risk assessment device, cause the lane change risk assessment device to perform the lane change risk assessment method provided in the first aspect and any possible implementation thereof.

[0029] According to the fifth aspect provided in this application, a vehicle is provided, including the lane change risk assessment device provided in the third aspect above.

[0030] According to the sixth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions, which, when executed on a lane change risk assessment device, cause the lane change risk assessment device to perform the lane change risk assessment method provided in the first aspect and any possible implementation thereof.

[0031] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0032] (1) In the lane change risk assessment method provided in this application, the state information of the target vehicle is first obtained, and then the state risk coefficient of the target vehicle is determined. If the state risk coefficient allows the target vehicle to change lanes, the road risk coefficient and driving risk coefficient are determined based on the driving information of the target vehicle and the surrounding environment information. Finally, based on the state risk coefficient, road risk coefficient and driving risk coefficient of the target vehicle, the lane change risk of the target vehicle is comprehensively assessed from multiple dimensions to ensure the safety of the target vehicle during the lane change process.

[0033] (2) This application can determine whether the operating status of the sensors, communication modules, steering system, braking system and drive system on the target vehicle is normal based on the state risk coefficient, so as to avoid accidents caused by changing lanes in the event of an operating failure.

[0034] (3) This application provides a more detailed multi-dimensional lane change risk assessment coefficient, realizing a comprehensive assessment of lane change risk from multiple dimensions.

[0035] It should be noted that the technical effects of any of the implementation methods in aspects two through six can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0036] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0037] Figure 1 This is a schematic diagram illustrating the structure of a lane change risk assessment system according to an exemplary embodiment;

[0038] Figure 2 This is a flowchart illustrating a lane change risk assessment method according to an exemplary embodiment;

[0039] Figure 3 This is a flowchart illustrating yet another lane change risk assessment method according to an exemplary embodiment;

[0040] Figure 4 This is a block diagram illustrating a lane change risk assessment device according to an exemplary embodiment;

[0041] Figure 5 This is a block diagram illustrating a lane change risk assessment device according to an exemplary embodiment. Detailed Implementation

[0042] The embodiments of this application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] In the description of the embodiments, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" and "more than one" refer to two or more. The terms "first," "second," etc., do not limit the quantity or execution order, and "first," "second," etc., do not necessarily imply that they are different.

[0045] In related technologies, risk assessment for lane changing in autonomous driving primarily relies on the Traffic Traceability (TTC) index. The perception system acquires the position and speed information of other vehicles to calculate collision events and conducts risk assessments based on these events. Autonomous lane changing requires ensuring reasonable timing, a smooth process, and most importantly, overall safety. Therefore, risk assessment of the vehicle's safety during lane changing is crucial.

[0046] To address the aforementioned technical problems, this application proposes a lane-change risk assessment method, apparatus, device, and storage medium. The method includes: the lane-change risk assessment device acquiring the state information of a target vehicle, including the operating states of sensors, communication modules, steering systems, braking systems, and drive systems on the target vehicle; and determining a state risk coefficient for the target vehicle based on the state information, the state risk coefficient indicating whether lane changing is permitted. Further, when the state risk coefficient indicates that lane changing is permitted, the lane-change risk assessment device acquires the target vehicle's driving information and surrounding environment information, including the vehicle's speed and acceleration, and the surrounding environment information including road information and the driving information of other vehicles on the driving road; determining a road risk coefficient based on the road information; and determining a driving risk coefficient based on the target vehicle's driving information and the driving information of other vehicles. Further, the lane-change risk assessment device determines the lane-change risk assessment result for the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient.

[0047] In this way, the lane change risk assessment method provided in this application first obtains the state information of the target vehicle, then determines the state risk coefficient of the target vehicle. If the state risk coefficient allows the target vehicle to change lanes, the road risk coefficient and driving risk coefficient are determined based on the driving information of the target vehicle and the surrounding environment information. Finally, based on the state risk coefficient, road risk coefficient and driving risk coefficient of the target vehicle, the lane change risk of the target vehicle is comprehensively assessed from multiple dimensions to ensure the safety of the target vehicle during the lane change process.

[0048] Figure 1 This application discloses a lane-change risk assessment system. The lane-change risk assessment method provided in this embodiment can be applied to situations such as... Figure 1 The lane-changing risk assessment system shown is used to determine and assess the lane-changing risks of autonomous vehicles, ensuring vehicle driving safety. Figure 1 As shown, the lane change risk assessment system 10 includes a lane change risk assessment device 11, a sensing module 12, and a fusion processing module 13.

[0049] The perception module 12 includes a camera 121, a radar 122, and a sensor 123.

[0050] The fusion processing module 13 is connected to the sensing module 12 and the lane change risk assessment device 11 respectively. The connection can be wired or wireless, and this application embodiment does not limit the connection.

[0051] It needs to be explained that, Figure 1The camera 121, radar 122, and sensor 123 shown are only for illustrative purposes to show the devices included in the perception module 12 and do not constitute a limitation on the number of cameras 121, radar 122, and sensors 123. For example, the camera 121 includes a camera installed at the front of the vehicle, a camera installed at the rearview mirror, a camera installed at the rear of the vehicle, and a camera installed at the door. This application embodiment does not make specific limitations in this regard.

[0052] Radar 122 can be a millimeter-wave radar, and sensor 123 can be used to monitor the operating status of equipment on the vehicle during vehicle operation.

[0053] The perception module 12 can be used to acquire camera data, radar data, and vehicle system information through the camera 121, radar 122, and sensor 123. Furthermore, the perception module 12 can also be used to send the acquired camera data, radar data, and vehicle system information to the fusion processing module 13.

[0054] The fusion processing module 13 can be used to receive camera data, radar data and vehicle system information sent by the perception module 12.

[0055] The fusion processing module 13 can also be used to generate vehicle status information, driving information and surrounding environment information based on the received camera data, radar data and vehicle system information.

[0056] The fusion processing module 13 can also be used to send the generated vehicle status information, driving information and surrounding environment information to the lane change risk assessment device 11.

[0057] The lane change risk assessment device 11 can be used to determine the vehicle's state risk coefficient based on the received vehicle state information.

[0058] The lane change risk assessment device 11 can also be used to determine the road information of the vehicle's current driving path and the driving information of other vehicles based on the received surrounding environmental information. Furthermore, the lane change risk assessment device 11 can determine the vehicle's driving risk coefficient based on the vehicle's driving information and the driving information of other vehicles, and determine the vehicle's road risk coefficient based on the road information of the driving path.

[0059] The lane change risk assessment device 11 can also be used to comprehensively assess the lane change risk of a vehicle from multiple dimensions based on the determined state risk coefficient, driving risk coefficient, and road risk coefficient.

[0060] Figure 2 This is a flowchart illustrating a lane-change risk assessment method according to some exemplary embodiments. In some embodiments, the above-described lane-change risk assessment method can be applied to, for example... Figure 1The lane change risk assessment system 10 shown includes a lane change risk assessment device 11. Hereinafter, this application will describe the lane change risk assessment method by taking the application of the lane change risk assessment method to the lane change risk assessment device 11 as an example.

[0061] like Figure 2 As shown in the embodiments of this application, the lane change risk assessment method includes the following steps S201-S206.

[0062] S201, Lane change risk assessment device acquires the status information of the target vehicle.

[0063] The status information includes the operating status of the sensors, communication modules, steering system, braking system, and drive system on the target vehicle.

[0064] As one possible implementation, the lane change risk assessment device periodically receives operational information reported by sensors, communication modules, steering systems, braking systems, and drive systems.

[0065] It should be noted that the lane change risk assessment device can directly obtain the operating information reported by each device through the connection between the device and the device; it can also obtain the operating information of each device after being processed by the fusion processing module from the fusion processing module. This application embodiment does not specifically limit this.

[0066] S202, The lane change risk assessment device determines the state risk coefficient of the target vehicle based on the state information of the target vehicle.

[0067] The state risk coefficient is used to indicate whether the target vehicle is allowed to change lanes.

[0068] As one possible implementation, the lane-change risk assessment device determines a state risk coefficient indicating that the target vehicle can change lanes when the sensors, communication module, steering system, braking system, and drive system on the target vehicle are operating normally. Conversely, if at least one of the sensors, communication module, steering system, braking system, and drive system on the target vehicle is operating in a faulty state, the lane-change risk assessment device determines a state risk coefficient indicating that the target vehicle cannot change lanes.

[0069] It should be noted that the lane change risk assessment device can determine whether the operating status of the sensors, communication modules, steering systems, braking systems, and drive systems is normal based on whether the operating information reported by the sensors, communication modules, steering systems, braking systems, and drive systems includes fault signals and whether the sensors, communication modules, steering systems, braking systems, and drive systems report operating information normally.

[0070] As another possible implementation, the lane-change risk assessment device determines whether a fault signal is present in the operational information. If a fault signal is present in the operational information, the device determines the target vehicle's state risk coefficient to be 0, indicating that the target vehicle is not allowed to change lanes. If no fault signal is present in the operational information, the device determines the target vehicle's state risk coefficient to be 1, indicating that the target vehicle is allowed to change lanes.

[0071] In some embodiments, if the operating information does not include fault signals, the lane change risk assessment device determines whether the operating information obtained in step S201 includes all operating information of the sensors, communication module, steering system, braking system, and drive system. Further, if the obtained operating information includes all operating information, the lane change risk assessment device determines the target vehicle's state risk coefficient to be 1; if the obtained operating information does not include all operating information, the lane change risk assessment device determines the target vehicle's state risk coefficient to be 0.

[0072] In other embodiments, the lane change risk assessment device issues an alarm when it determines that the target vehicle's state risk coefficient is 0, indicating to the target vehicle's driver that the lane change function is currently unavailable. If the target vehicle's state risk coefficient is determined to be 0 due to a fault signal included in the operational information, the lane change risk assessment device is also used to broadcast the fault signal to remind the target vehicle's driver to have the function repaired.

[0073] It should be noted that the lane change risk assessment device can also determine the state risk coefficient based on the existing vehicle fault detection methods. If a fault is detected in the vehicle, the state risk coefficient is determined to be 0, and if no fault is detected in the vehicle, the state risk coefficient is determined to be 1. The vehicle fault detection methods will not be elaborated here.

[0074] S203, When the state risk coefficient indicates that the target vehicle can change lanes, the lane change risk assessment device acquires the target vehicle's driving information and the surrounding environment information.

[0075] The driving information includes the target vehicle's speed and acceleration, while the surrounding environment information includes road information of the driving road and driving information of other vehicles on the driving road.

[0076] As one possible implementation, in step S202 above, if the state risk coefficient of the target vehicle indicates that the target vehicle is allowed to change lanes, the lane change risk assessment device determines the driving information of the target vehicle and the surrounding environment information based on camera data, radar data and sensor data.

[0077] S204, The lane change risk assessment device determines the road risk coefficient based on the road information of the driving road.

[0078] The road information includes adjacent lane occupancy information, the length and width of adjacent lanes, lane line type, and the curvature of the road; the road risk coefficient includes lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient. The adjacent lane occupancy information is used to indicate whether adjacent lanes are occupied.

[0079] As one possible implementation, when the road risk coefficient is the lane occupancy risk coefficient, the lane-changing risk assessment device determines the lane occupancy risk coefficient based on the adjacent lane occupancy information included in the road information of the driving road. Specifically, if the adjacent lane occupancy information indicates that the adjacent lane is occupied, the lane-changing risk assessment device determines the lane occupancy risk coefficient to be 0; if the adjacent lane occupancy information indicates that the adjacent lane is not occupied, the lane-changing risk assessment device determines the lane occupancy risk coefficient to be 1.

[0080] When the road risk coefficient is equal to the lane risk coefficient, the lane-changing risk assessment device determines the lane risk coefficient based on whether the length of the adjacent lane is less than a preset length, whether the width of the adjacent lane is less than a preset width, and whether the lane marking type is a preset lane-changing type. Specifically, if the length, width, and lane marking type of the adjacent lane do not meet the above conditions, the lane risk assessment device determines the lane risk coefficient to be 1. That is, if the length of the adjacent lane is greater than or equal to the preset length, the width of the adjacent lane is greater than or equal to the preset width, and the lane marking type is not a preset lane-changing type, the lane risk coefficient is determined to be 1. Otherwise, the lane risk coefficient is determined to be 0.

[0081] In some embodiments, the lane change risk assessment device determines the lane risk coefficient in the following ways: The lane change risk assessment device first determines whether lane changing is permitted on the current road based on the lane line type. If lane changing is not permitted, the lane risk coefficient is determined to be 0. If lane changing is permitted, the device further determines whether the length of the adjacent lane is greater than or equal to a preset length and whether the width is greater than or equal to a preset width. Further, if the length of the adjacent lane is less than the preset length or the width is less than the preset width, the lane change risk assessment device determines the lane risk coefficient to be 0; if the length of the adjacent lane is greater than or equal to the preset length and the width is greater than or equal to the preset width, the lane risk coefficient is determined to be 1.

[0082] When the road risk coefficient is the same as the curve radius risk coefficient, the lane-changing risk assessment device determines the curve radius risk coefficient based on the curvature of the driving road. Specifically, after determining the curvature of the driving road, the lane-changing risk assessment device determines the radius of the driving road based on the conversion relationship between curvature and radius. Furthermore, if the radius of the driving road is less than or equal to a first radius, the lane-changing risk assessment device determines the curve radius risk coefficient as 0; if the radius of the driving road is greater than or equal to a second radius, the curve radius risk coefficient is determined as 1; and if the radius of the driving road is greater than the first radius but less than the second radius, a linear interpolation method is used to determine the curve radius risk coefficient corresponding to the radius of the driving road.

[0083] It should be noted that the adjacent lane occupancy information can be generated by the lane change risk assessment device based on the acquired camera data and radar data, to determine whether there are obstacles occupying the road in the adjacent lanes captured by the camera.

[0084] The length of the adjacent lane is the length of the adjacent lane included in the camera data; the width of the adjacent lane is determined by the lane change risk assessment device based on the camera data; the road line type is obtained by the lane change risk assessment device through image recognition based on the road line in the camera data.

[0085] In some embodiments, the lane change risk assessment device determines the curve radius of the driving road based on the curvature of the driving road; and further determines the curve radius risk coefficient based on the curve radius of the driving road and a preset mapping relationship between the curve radius and the curve radius risk coefficient.

[0086] The curvature of the driving road is obtained by fitting a third-order curve equation to the road identified by the camera data using the lane-change risk assessment device. The third-order curve equation corresponding to the road line is shown in the following formula: A represents the third-order curve equation, A0 is the lateral position error between the target vehicle and the driving road, A1 is the heading angle error between the target vehicle and the driving road, A2 is half the curvature of the driving road, and A3 is one-sixth of the rate of change of the curvature of the driving road.

[0087] A = A0 + A1*X + A2*X 2 +A3*X 3

[0088] Furthermore, the lane change risk assessment device determines the radius of the driving road based on the curvature of the driving road.

[0089] For example, if the first radius is 150 meters and the second radius is 250 meters, the mapping relationship between the curve radius of the driving road and the curve radius risk coefficient can be shown in Table 1 below.

[0090] Table 1: Mapping Relationship between Curving Radius and Curving Radius Risk Coefficient

[0091] Curve radius Curving radius risk factor <150 meters 0 150 meters 0 170 meters 0.2 190 meters 0.4 210 meters 0.6 230 meters 0.8 250 meters 1 >250 meters 1

[0092] It should be noted that the preset length, preset width, first radius, second radius, and the mapping relationship between the curve radius and the curve radius risk coefficient involved in the above embodiments of this application can be preset in the lane change risk assessment device by the operation and maintenance personnel of the lane change risk assessment system. This application embodiment does not make specific limitations on this.

[0093] S205, the lane change risk assessment device determines the driving risk coefficient based on the driving information of the target vehicle and other vehicles.

[0094] The driving risk coefficient includes the distance risk coefficient and the TTC risk coefficient.

[0095] As one possible implementation, the lane-change risk assessment device uses the target vehicle's driving information, as well as the driving information of other vehicles, to determine the distance between the target vehicle and other vehicles. Further, the lane-change risk assessment device identifies a first vehicle and a second vehicle, where the first vehicle is the closest vehicle to the target vehicle in front of it, and the second vehicle is the closest vehicle to the target vehicle behind it. Further, the lane-change risk assessment device determines a first distance risk coefficient based on the distance between the first vehicle and the target vehicle, and determines a second distance risk coefficient based on the distance between the second vehicle and the target vehicle, and determines the smaller value between the first and second distance risk coefficients as the total distance risk coefficient.

[0096] It should be noted that the lane change risk assessment device is based on the distance between the target vehicle and other vehicles, and the distance risk coefficient can be determined according to the following formula.

[0097] T d =1 / (1+e) -L )

[0098] Among them, T d Let be the distance risk coefficient, e be the natural constant, and L be the distance.

[0099] Furthermore, the lane change risk assessment device determines a first TTC risk coefficient based on the distance between the first vehicle and the target vehicle, as well as the speeds of the first vehicle and the target vehicle; it determines a second TTC risk coefficient based on the distance between the second vehicle and the target vehicle, as well as the speeds of the second vehicle and the target vehicle, and the smaller value between the first TTC risk coefficient and the second TTC risk coefficient is determined as the TTC risk coefficient.

[0100] It should be noted that the lane change risk assessment device can determine the TTC risk coefficient according to the following formula.

[0101] TTC = L / (V) target -V other )

[0102] T TTC =1 / (1+e) -TTC )

[0103] Where TTC represents the collision event, L represents the distance between the target vehicle and other vehicles, and V represents the distance between the target vehicle and other vehicles. target V is the speed of the target vehicle. other For the speed of other vehicles, T TTC Here, is the TTC risk coefficient, and e is the natural constant.

[0104] S206. The lane change risk assessment device determines the lane change risk assessment result of the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient.

[0105] As one possible implementation, the lane change risk assessment device determines whether the preset lane change conditions are met based on the state risk coefficient, road risk coefficient, and driving risk coefficient determined in the above steps S202, S204, and S205. If the conditions are met, the lane change risk assessment result of the target vehicle is determined to be that the target vehicle is allowed to change lanes; if the conditions are not met, the lane change risk result of the target vehicle is determined to be that the target vehicle is not allowed to change lanes.

[0106] It should be noted that the preset lane-changing conditions can be set in advance by the maintenance personnel of the lane-changing risk assessment system in the lane-changing risk assessment device. For example, the state risk coefficient can be greater than or equal to the preset state risk coefficient, the lane risk coefficient can be greater than or equal to the preset lane risk coefficient, and the driving risk coefficient can be greater than or equal to the preset driving risk coefficient. This application embodiment does not specifically limit this.

[0107] In some embodiments, the lane change risk assessment device determines a lane change risk score based on a state risk coefficient, a lane risk coefficient, and a driving risk coefficient. If the lane change risk score is greater than a preset score, the lane change risk assessment result indicates that the target vehicle is permitted to change lanes; if the lane change risk score is less than or equal to the preset score, the lane change risk assessment result indicates that the target vehicle is not permitted to change lanes. The lane change risk score is negatively correlated with the lane change risk of the target vehicle.

[0108] When the lane risk coefficient includes lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient, and the driving risk coefficient includes distance risk coefficient and TTC risk coefficient, the lane change risk assessment device can determine the lane change risk score according to the following formula.

[0109] T = (a * T) c +b*Td +c*T TTC )*T s *T o *T L

[0110] a + b + c = 1

[0111] Where T represents the lane change risk score, T c Here, 'a' represents the curve radius risk coefficient, 'a' represents the weight value of the curve radius risk coefficient, and 'T' represents the curve radius risk coefficient. d Let b be the distance risk coefficient, and T be the weight value of the distance risk coefficient. TTC Here, c represents the TTC risk coefficient, and T represents the weighting value of the TTC risk coefficient. s T is the state risk coefficient. o For lane occupancy risk coefficient, T L This refers to the lane risk coefficient.

[0112] Furthermore, the lane change risk assessment device compares the calculated lane change risk score with a preset score to determine the lane change risk assessment result.

[0113] It should be noted that the preset score can be set in advance in the lane change risk assessment device by the maintenance personnel of the lane change risk assessment system. For example, different preset scores can be set according to different needs of drivers. If the need is for an absolutely safe lane change, the preset score can be set higher. If the need is for an aggressive lane change, the preset score can be set lower, but it cannot be lower than the safety limit. This application embodiment does not make specific limitations in this regard.

[0114] Understandably, the lane-changing risk assessment method provided in this application first obtains the state information of the target vehicle, then determines the state risk coefficient of the target vehicle. If the state risk coefficient allows the target vehicle to change lanes, the road risk coefficient and driving risk coefficient are determined based on the driving information of the target vehicle and the surrounding environment information. Finally, based on the state risk coefficient, road risk coefficient, and driving risk coefficient of the target vehicle, the lane-changing risk of the target vehicle is comprehensively assessed from multiple dimensions to ensure the safety of the target vehicle during the lane-changing process.

[0115] In one design, in conjunction with the above embodiments of this application, the lane-changing risk assessment method provided by the embodiments of this application, such as... Figure 3 As shown, it includes S1-S7.

[0116] S1, the lane change risk assessment device acquires camera data, radar data, and the status information of the target vehicle.

[0117] S2. The lane change risk assessment device determines whether the target vehicle has a malfunction based on the target vehicle's status information.

[0118] If the lane change risk assessment device determines that the target vehicle has no fault, proceed to step S3; if it determines that the target vehicle has a fault, proceed to step S7.

[0119] S3, the lane change risk assessment device determines whether the lane line type supports lane changing and whether the lane line width is greater than the preset width.

[0120] If the lane change risk assessment device determines that the lane line type supports lane change and the lane line width is greater than the preset width, proceed to steps S4-S6. If it determines that the lane line type does not support lane change and the lane line width is not greater than the preset width, proceed to step S7.

[0121] S4. The lane change risk assessment device determines the curve radius risk coefficient.

[0122] S5. Lane change risk assessment device determines distance risk coefficient.

[0123] S6. The lane change risk assessment device determines the TCC risk coefficient.

[0124] S7. The lane change risk assessment device determines the lane change risk assessment result of the target vehicle.

[0125] It should be noted that steps S4-S6 above do not have a specific execution order; they can be executed simultaneously or sequentially. This application embodiment does not impose a specific limitation on this. The specific implementation of the lane change risk assessment method in steps S1-S7 above can be referred to the description in the above embodiments of this application, and will not be repeated here.

[0126] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the lane change risk assessment device or lane change risk assessment unit includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0127] This application embodiment can, based on the above method, exemplarily divide the lane change risk assessment device or lane change risk assessment unit into functional modules. For example, the lane change risk assessment device or lane change risk assessment unit may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0128] Figure 4 This is a schematic diagram of a lane-change risk assessment device provided in an embodiment of this application. This lane-change risk assessment device is used to perform the aforementioned lane-change risk assessment method. Figure 4 As shown, the lane change risk assessment device 30 includes an acquisition unit 301 and a determination unit 302.

[0129] The acquisition unit 301 is used to acquire the status information of the target vehicle, including the operating status of the sensors, communication module, steering system, braking system and drive system on the target vehicle.

[0130] The determining unit 302 is used to determine the state risk coefficient of the target vehicle based on the state information of the target vehicle. The state risk coefficient is used to indicate whether the target vehicle is allowed to change lanes.

[0131] The acquisition unit 301 is also used to acquire the target vehicle's driving information and surrounding environment information when the state risk coefficient indicates that the target vehicle is allowed to change lanes. The driving information includes the target vehicle's speed and acceleration, and the surrounding environment information includes the road information of the driving road and the driving information of other vehicles on the driving road.

[0132] The determining unit 302 is also used to determine the road risk coefficient based on the road information of the driving road.

[0133] The determining unit 302 is also used to determine the driving risk coefficient based on the driving information of the target vehicle and the driving information of other vehicles.

[0134] The determining unit 302 is also used to determine the lane-changing risk assessment result of the target vehicle based on the state risk coefficient, road risk coefficient, and driving risk coefficient.

[0135] Optionally, the determining unit 302 is further configured to determine a state risk factor indicating that the target vehicle is allowed to change lanes when the operating states of the sensors, communication module, steering system, braking system and drive system on the target vehicle are in a normal state; and to determine a state risk factor indicating that the target vehicle is not allowed to change lanes when the operating state of at least one of the sensors, communication module, steering system, braking system and drive system on the target vehicle is in a fault state.

[0136] Optionally, in the lane change risk assessment device 30, the road information of the driving road includes adjacent lane occupancy information, the length, width, lane line type, and curvature of the driving road; the road risk coefficient includes lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient, and the adjacent lane occupancy information is used to indicate whether the adjacent lane is occupied.

[0137] Optionally, the determining unit 302 is also used to determine the lane occupancy risk coefficient based on the occupancy information of adjacent lanes.

[0138] Optionally, the determining unit 302 is also used to determine the lane risk coefficient based on whether the length of the adjacent lane is less than the preset length, whether the width of the adjacent lane is less than the preset width, and whether the lane line type meets the preset lane change type.

[0139] Optionally, the determining unit 302 is also used to determine the curve radius of the driving road based on the curvature of the driving road; and to determine the curve radius risk coefficient based on the curve radius of the driving road and a preset mapping relationship between the curve radius and the curve radius risk coefficient.

[0140] Optionally, the determining unit 302 is further configured to determine a lane-changing risk score based on the state risk coefficient, road risk coefficient, and driving risk coefficient, wherein the lane-changing risk score is negatively correlated with the lane-changing risk of the target vehicle; if the lane-changing risk score is greater than a preset score, the lane-changing risk assessment result indicates that the target vehicle is allowed to change lanes; if the lane-changing risk score is less than or equal to the preset score, the lane-changing risk assessment result indicates that the target vehicle is not allowed to change lanes.

[0141] 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.

[0142] Figure 5 This is a block diagram illustrating a lane change risk assessment device according to an exemplary embodiment. Figure 5 As shown, the lane change risk assessment device 40 includes, but is not limited to, a processor 401 and a memory 402.

[0143] The memory 402 described above is used to store the executable instructions of the processor 401. It is understood that the processor 401 is configured to execute instructions to implement the lane-changing risk assessment method in the above embodiments.

[0144] It should be noted that those skilled in the art will understand that Figure 5 The structure of the lane change risk assessment equipment shown does not constitute a limitation on the lane change risk assessment equipment. The lane change risk assessment equipment may include more than Figure 5 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0145] The processor 401 is the control center of the lane-changing risk assessment equipment. It connects various parts of the equipment via interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, thereby providing overall monitoring of the lane-changing risk assessment equipment. The processor 401 may include one or more processing units. Optionally, the processor 401 may integrate an application processor and a modem processor. The application processor primarily handles the operating system, user interface, and applications, while the modem processor primarily handles wireless communication. It is understood that the modem processor may not be integrated into the processor 401.

[0146] The memory 402 can be used to store software programs and various data. The memory 402 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0147] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 402 including instructions, which can be executed by a processor 401 of a lane change risk assessment device 40 to implement the lane change risk assessment method in the above embodiments.

[0148] In actual implementation, Figure 4 The functions of the acquisition unit 301 and the determination unit 302 can both be provided by Figure 5 The processor 401 calls the computer program stored in the memory 402 to implement the process. The specific execution process can be found in the description of the lane-changing risk assessment method in the previous embodiment, and will not be repeated here.

[0149] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0150] In an exemplary embodiment, this application also provides a vehicle including the lane change risk assessment device described above.

[0151] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 401 of the lane change risk assessment device to complete the lane change risk assessment method in the above embodiments.

[0152] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of the lane change risk assessment device, they implement the various processes of the lane change risk assessment method embodiment described above, and can achieve the same technical effect as the lane change risk assessment method described above. To avoid repetition, they will not be described again here.

[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0155] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0156] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0157] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0158] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope 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 lane-changing risk assessment method, characterized in that, The method includes: Acquire the status information of the target vehicle, including the operating status of the sensors, communication module, steering system, braking system and drive system on the target vehicle; Based on the status information of the target vehicle, a status risk coefficient of the target vehicle is determined, and the status risk coefficient is used to indicate whether the target vehicle is allowed to change lanes; When the state risk coefficient indicates that the target vehicle is allowed to change lanes, the driving information of the target vehicle and the surrounding environment information are acquired. The driving information includes the speed and acceleration of the target vehicle, and the surrounding environment information includes the road information of the driving road and the driving information of other vehicles on the driving road. The road information of the driving road includes adjacent lane occupancy information, the length, width, lane line type and curvature of the driving road. Based on the road information of the driving route, a road risk coefficient is determined; the road risk coefficient includes a lane occupancy risk coefficient, a lane risk coefficient, and a curve radius risk coefficient, and the adjacent lane occupancy information is used to indicate whether adjacent lanes are occupied; Based on the driving information of the target vehicle and the driving information of the other vehicles, the driving risk coefficient is determined; Based on the state risk coefficient, the road risk coefficient, and the driving risk coefficient, the lane-changing risk assessment result of the target vehicle is determined; The step of determining the road risk coefficient based on the road information of the driving route includes: The lane risk coefficient is determined based on whether the length of the adjacent lane is less than a preset length, whether the width of the adjacent lane is less than a preset width, and whether the lane line type meets the preset lane change type.

2. The lane-changing risk assessment method according to claim 1, characterized in that, The step of determining the state risk coefficient of the target vehicle based on the state information of the target vehicle includes: If the sensors, communication modules, steering system, braking system, and drive system on the target vehicle are operating normally, the state risk coefficient indicates that the target vehicle is allowed to change lanes. If at least one of the sensors, communication modules, steering system, braking system, and drive system on the target vehicle is in a fault state, the state risk coefficient indicates that the target vehicle is not allowed to change lanes.

3. The lane-changing risk assessment method according to claim 1, characterized in that, The step of determining the road risk coefficient based on the road information of the driving route includes: The lane occupancy risk coefficient is determined based on the occupancy information of the adjacent lanes.

4. The lane-changing risk assessment method according to claim 1, characterized in that, The step of determining the road risk coefficient based on the road information of the driving route includes: The radius of curvature of the driving road is determined based on the curvature of the driving road. The curve radius risk coefficient is determined based on the curve radius of the driving road and the preset mapping relationship between the curve radius and the curve radius risk coefficient.

5. The lane-changing risk assessment method according to claim 1, characterized in that, The step of determining the lane-changing risk assessment result of the target vehicle based on the state risk coefficient, the road risk coefficient, and the driving risk coefficient includes: Based on the state risk coefficient, the road risk coefficient, and the driving risk coefficient, a lane change risk score is determined, wherein the lane change risk score is negatively correlated with the lane change risk of the target vehicle. If the lane change risk score is greater than a preset score, the lane change risk assessment result indicates that the target vehicle is allowed to change lanes; If the lane change risk score is less than or equal to a preset score, the lane change risk assessment result indicates that the target vehicle is not allowed to change lanes.

6. A lane-changing risk assessment device, characterized in that, Includes an acquisition unit and a determination unit; The acquisition unit is used to acquire the status information of the target vehicle, including the operating status of the sensors, communication module, steering system, braking system and drive system on the target vehicle. The determining unit is configured to determine the state risk coefficient of the target vehicle based on the state information of the target vehicle, and the state risk coefficient is used to indicate whether the target vehicle is allowed to change lanes; The acquisition unit is further configured to acquire the driving information of the target vehicle and the surrounding environment information when the state risk coefficient indicates that the target vehicle is allowed to change lanes. The driving information includes the speed and acceleration of the target vehicle, and the surrounding environment information includes the road information of the driving road and the driving information of other vehicles on the driving road. The road information of the driving road includes adjacent lane occupancy information, the length, width, lane line type and curvature of the driving road. The determining unit is further configured to determine the road risk coefficient based on the road information of the driving road; The road risk coefficient includes lane occupancy risk coefficient, lane risk coefficient, and curve radius risk coefficient, and the adjacent lane occupancy information is used to indicate whether adjacent lanes are occupied; The determining unit is further configured to determine the driving risk coefficient based on the driving information of the target vehicle and the driving information of the other vehicles; The determining unit is further configured to determine the lane-changing risk assessment result of the target vehicle based on the state risk coefficient, the road risk coefficient, and the driving risk coefficient. The determining unit is specifically used to: determine the lane risk coefficient based on whether the length of the adjacent lane is less than a preset length, whether the width of the adjacent lane is less than a preset width, and whether the lane line type meets the preset lane change type.

7. A lane-changing risk assessment device, characterized in that, Deployed in vehicles, including memory and processor; The memory and the processor are coupled; The memory is used to store computer program code, which includes computer instructions; When the processor executes the computer instructions, the lane change risk assessment device performs the lane change risk assessment method as described in any one of claims 1-5.

8. A computer-readable storage medium storing instructions, characterized in that, When the instruction is executed on the lane change risk assessment device, the lane change risk assessment device performs the lane change risk assessment method as described in any one of claims 1-5.

9. A vehicle, characterized in that, Includes the lane change risk assessment device as described in claim 7.

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