Vehicle lane changing prompting method, device, equipment, medium and computer program product

Abstract

The application relates to a vehicle lane changing prompting method and device, computer equipment, a storage medium and a computer program product. The method relates to the technical field of map navigation and can be applied to the field of maps or the scene of intelligent traffic. The method comprises the following steps: when a target vehicle travels on a first lane of a multilane road, at least one of an overtaking behavior and an overtaken behavior of the target vehicle relative to a vehicle in a second lane of the multilane road is responded to, and a change in an overtaking statistical quantity of the second lane is triggered; wherein the overtaking behavior and the overtaken behavior respectively cause the overtaking statistical quantity to change in opposite directions; the overtaking statistical quantity quantitatively represents the high-low relationship of the congestion degree between the first lane and the second lane; the lane changing prompting information is triggered in response to the change of the overtaking statistical quantity meeting a lane changing threshold condition; and the lane changing prompting information is used for prompting lane changing to the second lane. The method can improve the lane changing prompting effect on the vehicle traveling on the multilane road.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a vehicle lane change notification method, apparatus, computer equipment, storage medium, and computer program product. Background Technology

[0002] With the rapid development of computer technology, more and more technologies are being applied to vehicle operation. Since traffic conditions are a multivariate stochastic system, they change randomly due to various disturbances, such as sudden increases in traffic flow or unexpected accidents. Vehicles traveling on the road are obviously also affected by these factors.

[0003] Currently, drivers or vehicles can observe road conditions ahead through map navigation systems and choose appropriate routes as needed, or they can directly follow recommended navigation routes. However, these methods do not yet offer effective lane-level driving suggestions for vehicles traveling on multi-lane roads. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle lane change notification method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the lane-level notification effect for vehicles traveling on multi-lane roads, in order to address the above-mentioned technical problems.

[0005] Firstly, this application also provides a method for providing lane change notification for vehicles. The method includes:

[0006] When a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the target vehicle's overtaking or being overtaken behavior relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the relationship between the degree of congestion between the first lane and the second lane.

[0007] In response to a change in the overtaking statistics to meet the lane-changing threshold, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the second lane.

[0008] Secondly, this application also provides a vehicle lane change warning device. The device includes:

[0009] The statistics module is configured to, when a target vehicle is traveling in the first lane of a multi-lane road, trigger a change in the overtaking statistics for the second lane in response to at least one of the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the relationship between the degree of congestion between the first lane and the second lane.

[0010] The prompting module is used to trigger a lane change prompt message in response to a change in the overtaking statistics to meet the lane change threshold condition; the lane change prompt message is used to prompt the driver to change lanes to the second lane.

[0011] In one embodiment, the statistics module is further configured to, in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger an increase in the overtaking statistics for the second lane; and in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger a decrease in the overtaking statistics for the second lane.

[0012] In one embodiment, the statistics module is further configured to, in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger an increment of 1 in the overtaking statistics of the second lane; and in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger a decrement of 1 in the overtaking statistics of the second lane.

[0013] In one embodiment, the statistics module is further configured to, when the target vehicle is traveling in the first lane of a multi-lane road and the traffic state of the multi-lane road changes from a non-congested state to a congested state, reset the overtaking statistics of the target vehicle with respect to the second lane to zero, and then initiate the execution of the response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

[0014] In one embodiment, the statistics module is further configured to terminate the execution of the response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road when the traffic state of the multi-lane road changes from the traffic congestion state to the traffic non-congestion state, triggering a change in the overtaking statistics for the second lane.

[0015] In one embodiment, the apparatus further includes:

[0016] The behavior determination module is used when the second lane is an adjacent lane of the first lane. In response to a vehicle in the adjacent lane in the target vehicle's field of vision moving in from the top of the field of vision and then moving out from the bottom of the field of vision, the module determines that the target vehicle has overtaken a vehicle in the second lane of the multi-lane road.

[0017] In one embodiment, the behavior determination module is configured to determine that there is an overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road in response to a vehicle in the adjacent lane in the target vehicle's field of vision moving in from the bottom of the field of vision and then moving out from the top of the field of vision.

[0018] In one embodiment, the behavior determination module is configured to acquire a field-of-view image captured by the target vehicle; perform target detection on the field-of-view image to determine the area where the adjacent lane of the first lane is located and the vehicles in the field-of-view image; determine the movement direction of the vehicles located in the area where the adjacent lane is located in the field-of-view image; and determine the overtaking behavior or being overtaken behavior of the target vehicle relative to the vehicles in the adjacent lane based on the movement direction.

[0019] In one embodiment, the prompting module is further configured to respond to the overtaking statistics changing to a preset lane-changing threshold, trigger the generation of a prompt message to change lanes to the second lane, and then voice-broadcast the prompt message.

[0020] In one embodiment, the statistics module is further configured to terminate the execution of the response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, and trigger a change in the overtaking statistics for the second lane after the target vehicle changes lanes to the second lane.

[0021] In one embodiment, the statistics module is further configured to, after the lane-change prompt information is triggered, when the target vehicle has not changed lanes to the second lane and the traffic condition of the multi-lane road is congested, reset the overtaking statistics of the target vehicle with respect to the second lane to zero, and then initiate the execution of the response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

[0022] In one embodiment, the prompting module is further configured to trigger a lane-change prompt message in response to a change in the overtaking statistics to meet the lane-change threshold condition; the lane-change prompt message is used to prompt the driver to remain in the first lane.

[0023] In one embodiment, the prompting module is further configured to respond to the overtaking statistics changing to a preset non-lane-changing threshold, triggering the generation of a prompt message to maintain driving in the first lane, and then voice-broadcasting the prompt message.

[0024] In one embodiment, the statistics module is further configured to, after the triggering of the non-lane-change prompt information, when the target vehicle changes lanes to the second lane, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the first lane, trigger a change in the overtaking statistics for the first lane.

[0025] In one embodiment, the multi-lane road further includes a third lane, and the statistics module is further configured to trigger a change in the overtaking statistics for the third lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the third lane of the multi-lane road; the overtaking statistics for the second lane are independent of the overtaking statistics for the third lane.

[0026] The prompting module is also used to trigger a lane change prompt message in response to a change in the overtaking statistics of the third lane to meet the lane change threshold condition; the lane change prompt message is used to prompt the user to change lanes to the third lane.

[0027] In one embodiment, the device further includes a traffic state acquisition module for receiving real-time traffic information about the multi-lane road; determining the traffic state of the multi-lane road based on the real-time traffic information; and, when the traffic state changes from a non-congested state to a congested state, activating the statistics module in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

[0028] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0029] When a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the target vehicle's overtaking or being overtaken behavior relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the relationship between the degree of congestion between the first lane and the second lane.

[0030] In response to a change in the overtaking statistics to meet the lane-changing threshold, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the second lane.

[0031] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0032] When a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the target vehicle's overtaking or being overtaken behavior relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the relationship between the degree of congestion between the first lane and the second lane.

[0033] In response to a change in the overtaking statistics to meet the lane-changing threshold, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the second lane.

[0034] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0035] When a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the target vehicle's overtaking or being overtaken behavior relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the relationship between the degree of congestion between the first lane and the second lane.

[0036] In response to a change in the overtaking statistics to meet the lane-changing threshold, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the second lane.

[0037] The aforementioned vehicle lane change prompting method, device, computer equipment, storage medium, and computer program product, for a target vehicle traveling in the first lane of a multi-lane road, responds to at least one of the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane. Since the overtaking and being overtaken behaviors cause the overtaking statistics to change in opposite directions, the overtaking statistics for the second lane are dynamically changing. The dynamically changing overtaking statistics can characterize the degree of congestion between the first and second lanes within a short period of time, and reveal the trend of congestion changes between the first and second lanes within that short period of time. When the overtaking statistics change to meet the lane change threshold condition, that is, when it indicates that the first lane is more congested than the second lane, a lane change prompt is triggered to prompt the user to switch to the second lane. This timely and valuable lane-level driving suggestion can promptly remind the user and improve the effectiveness of vehicle lane change prompts. Attached Figure Description

[0038] Figure 1 This is a diagram illustrating the application environment of a vehicle lane change notification method in one embodiment.

[0039] Figure 2 This is a flowchart illustrating a vehicle lane change notification method in one embodiment;

[0040] Figure 3 This is a schematic diagram of a multi-lane road in one embodiment;

[0041] Figure 4 This is a flowchart illustrating how overtaking statistics change in the second lane in one embodiment;

[0042] Figure 5 This is a schematic diagram of overtaking behavior in one embodiment;

[0043] Figure 6 This is a schematic diagram illustrating the overtaking behavior in one embodiment;

[0044] Figure 7 A flowchart illustrating the change in overtaking statistics for the second lane in another embodiment;

[0045] Figure 8 This is a schematic diagram illustrating the field of vision of the target vehicle in one embodiment;

[0046] Figure 9 This is a flowchart illustrating a specific embodiment of a vehicle lane change notification method.

[0047] Figure 10 This is a structural block diagram of a vehicle lane change prompting device in one embodiment;

[0048] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The method provided in this application embodiment can be applied to Intelligent Traffic Systems (ITS), also known as Intelligent Transportation Systems. ITS effectively integrates advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, strengthening the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy. Alternatively;

[0051] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0052] The vehicle lane change notification method provided in this application embodiment can be applied to, for example, Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on another network server. In one embodiment, when a target vehicle is traveling in the first lane of a multi-lane road, terminal 102 can trigger a change in the overtaking statistics for the second lane in response to at least one of the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road; wherein the overtaking and being overtaken behavior cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the degree of congestion between the first and second lanes; the terminal can also trigger a lane-changing prompt message in response to the change in overtaking statistics reaching a lane-changing threshold condition; the lane-changing prompt message is used to prompt a lane change to the second lane.

[0053] The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle systems. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0054] In one embodiment, the vehicle lane change prompting method provided in this application can also be applied to a system including a terminal 102 and a server 104, and implemented through the interaction between the terminal 102 and the server 104. For example, for a target vehicle traveling in the first lane of a multi-lane road, the server 104 responds to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane; in response to the change in the overtaking statistics reaching the lane change threshold condition, the server 104 generates corresponding lane change prompt information, and the server 104 notifies the terminal 102 to display or verbally announce the lane change prompt information.

[0055] In one embodiment, the lane change notification method provided in this application can be executed by an electronic navigation client. In one specific application scenario, the electronic map navigation client is installed on the smart device of the driver of the target vehicle; in another specific application scenario, the electronic map navigation client is installed on the vehicle's in-vehicle terminal. When the driver is driving the target vehicle, the electronic map navigation client is activated to execute the lane change notification method, providing the driver with reasonable and effective lane-level driving suggestions.

[0056] In some embodiments, in autonomous or driverless applications, this lane change notification method can be applied to an autonomous driving system, where the target vehicle is an autonomous or driverless vehicle. The autonomous driving system can use this method to obtain overtaking statistics for the second lane, which can serve as one of the decision factors for whether the target vehicle should change lanes to the second lane. Alternatively, the autonomous driving system can directly control the target vehicle to change lanes to the second lane when the overtaking statistics change to meet a lane change threshold.

[0057] In related technologies, map navigation systems can provide advance notice of road conditions ahead, allowing drivers to choose suitable routes or directly follow recommended navigation routes. However, map navigation systems provide road-level traffic information, such as determining the traffic conditions of each segment of road between the navigation start and destination based on collected road images or road traffic information crawled from the internet, including whether it is congested or passable. Moreover, because road conditions are affected by many factors, predicting and discovering road-level traffic information is impossible. Therefore, the methods described above only provide the current, objective traffic condition information for each segment of road.

[0058] This application's embodiments discover patterns and trends in vehicles traveling on multi-lane roads within a small range under specific conditions, providing reasonable and effective lane-level driving suggestions for vehicle travel. Compared to related technologies that determine road-level traffic information, this method involves lane-level behavior mining and prediction, which can improve the effectiveness of lane-level vehicle lane-change prompts.

[0059] In one embodiment, such as Figure 2 As shown, a vehicle lane change notification method is provided, which can be applied to... Figure 1 The following steps are described using a computer device (e.g., terminal 102 or server 104) as an example:

[0060] Step 202: When the target vehicle is traveling in the first lane of the multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, the overtaking statistics for the second lane are triggered to change; wherein the overtaking behavior and being overtaken behavior cause the overtaking statistics to change in opposite directions; the overtaking statistics quantitatively represent the relationship between the degree of congestion between the first lane and the second lane.

[0061] In this context, a multi-lane road is a road traveling in the same direction as the target vehicle. This multi-lane road has more than one lane; for example, it could have two, three, or four lanes, etc. The first lane is the lane where the target vehicle travels. The first lane can be any lane on the multi-lane road; for example, it could be the left-hand lane, the lane in the middle of the road, or the right-hand lane in the middle of the road. The second lane is any lane on the multi-lane road other than the first lane. Preferably, the second lane is the lane adjacent to the first lane.

[0062] like Figure 3 The diagram shown is a schematic representation of a multi-lane road in one embodiment. (Refer to...) Figure 3 This multi-lane road consists of three lanes: a left lane, a middle lane, and a right lane. In some scenarios, the congestion levels vary across different lanes on a multi-lane road. For example, refer to... Figure 3 When there is a fork in the right lane, if a large number of vehicles need to turn right from that fork, it will cause congestion in the right lane, especially the right lane itself. Based on the patterns and trends between lanes in this small area, for vehicles in the right lane that do not need to turn right, the method provided in this application embodiment will prompt the vehicle to choose a lane with relatively low congestion in the multi-lane road, prompting the driver to change lanes, providing users with a good driving experience and improving the efficiency of lane change prompts.

[0063] Overtaking and being overtaken are relative concepts. In this application, overtaking is defined as the act of a target vehicle passing a vehicle in the second lane of a multi-lane road, and being overtaken is defined as the act of a target vehicle being overtaken by a vehicle in the second lane of a multi-lane road. It can be understood that overtaking refers to a change in the position of the two vehicles. For example, if the positions of vehicle A and vehicle B on the ground change from driving side-by-side to vehicle A moving to the side and front of vehicle B, or from vehicle A being behind vehicle B to vehicle A moving to the side and front of vehicle B, then vehicle A is considered to have overtaken vehicle B.

[0064] In this application, for the second lane of the multi-lane road, an overtaking statistic is set for the second lane to quantify the relationship between the congestion levels of the first and second lanes. The overtaking statistic for the second lane changes with the overtaking and being overtaken behaviors of the target vehicle, and the overtaking and being overtaken behaviors cause the overtaking statistic to change in opposite directions.

[0065] In one embodiment, the change in overtaking statistics is positively correlated with the number of overtaking actions and inversely correlated with the number of being overtaken. This means that overtaking actions increase the overtaking statistics, while being overtaken decreases them. Therefore, a larger overtaking statistics quantitatively indicates that the first lane is less congested than the second lane, and a smaller overtaking statistics quantitatively indicates that the first lane is more congested than the second lane.

[0066] In another embodiment, the change in overtaking statistics is inversely correlated with the number of overtaking actions and positively correlated with the number of being overtaken actions. This means that overtaking actions reduce overtaking statistics, while being overtaken increases them. Therefore, a larger overtaking statistics quantitatively indicates a higher degree of congestion in the first lane compared to the second lane, and a smaller overtaking statistics quantitatively indicates a lower degree of congestion in the first lane compared to the second lane.

[0067] In one embodiment, a multi-lane road may have more than one lane besides the first lane, meaning there are multiple second lanes. In this case, a corresponding overtaking statistic can be assigned to each second lane to quantify its congestion level relative to the first lane. For example, if a multi-lane road has three lanes: the first lane for the target vehicle, and the other two lanes (lane 1 and lane 2), a first overtaking statistic Q1 can be assigned to lane 1, and a second overtaking statistic Q2 can be assigned to lane 2.

[0068] In the technical solution provided in this application embodiment, for a target vehicle traveling in the first lane of a multi-lane road, an overtaking statistic for the second lane is set, and the overtaking behavior and being overtaken behavior of the target vehicle in the second lane are detected, so that the overtaking statistic changes, thereby obtaining a dynamic quantitative representation of the congestion level between the first lane and the second lane.

[0069] Step 204: In response to the change in overtaking statistics to meet the lane-changing threshold condition, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the second lane.

[0070] The lane-changing threshold condition is a preset lane-changing condition, such as a preset lane-changing threshold. The computer equipment can obtain the preset lane-changing threshold condition, compare the dynamically changing overtaking statistics with the lane-changing threshold condition, and trigger a lane-changing prompt message when the overtaking statistics change to meet the lane-changing threshold condition. The lane-changing prompt message could be, for example, "Current lane is congested, it is recommended to change lanes to the second lane."

[0071] In one embodiment, the vehicle terminal or server can respond to a change in overtaking statistics to a preset lane-changing threshold, triggering the generation of a lane-changing prompt to the second lane, which is then broadcast verbally by the vehicle terminal. For example, if the preset lane-changing threshold is -10, when the overtaking statistics change to -10, a lane-changing prompt to the second lane is generated and broadcast verbally.

[0072] The aforementioned lane-change prompting method, for a target vehicle traveling in the first lane of a multi-lane road, responds to at least one of the overtaking or being overtaken behaviors of the target vehicle relative to vehicles in the second lane of the multi-lane road. This triggers a change in the overtaking statistics for the second lane. Since the overtaking and being overtaken behaviors cause the overtaking statistics to change in opposite directions, the overtaking statistics for the second lane are dynamically changing. The dynamically changing overtaking statistics can characterize the degree of congestion between the first and second lanes within a short period of time, and uncover the trend of congestion changes between the first and second lanes within that short period of time. When the overtaking statistics change to meet the lane-change threshold condition, that is, when it indicates that the first lane is more congested than the second lane, a lane-change prompt is triggered to prompt the user to change lanes to the second lane. This timely and valuable lane-level driving suggestion can promptly remind the user and improve the effectiveness of the lane-change prompt.

[0073] In one embodiment, such as Figure 4 As shown, in response to at least one of the overtaking or being overtaken actions of a target vehicle relative to a vehicle in the second lane of a multi-lane road, a change in overtaking statistics for the second lane is triggered, including:

[0074] Step 402: In response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, trigger an increase in overtaking statistics for the second lane;

[0075] Step 404: In response to the target vehicle being overtaken by a vehicle in the second lane of the multi-lane road, trigger a reduction in overtaking statistics for the second lane.

[0076] In this embodiment, the change in overtaking statistics is positively correlated with the number of overtaking actions and inversely correlated with the number of times an overtaken vehicle is overtaken. That is, the overtaking action defined above will increase the overtaking statistics, and the overtaking action defined above will decrease the overtaking statistics. Correspondingly, a larger overtaking statistics quantitatively indicates a lower level of congestion in the first lane compared to the second lane, while a smaller overtaking statistics quantitatively indicates a higher level of congestion in the first lane compared to the second lane.

[0077] In one embodiment, step 402 includes: in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering an increment of 1 in the overtaking statistic for the second lane; step 404 includes: in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a decrement of 1 in the overtaking statistic for the second lane.

[0078] In this embodiment, the change in overtaking statistics is positively correlated with the number of overtaking actions and inversely correlated with the number of times an overtaken vehicle is overtaken. The dynamic change range of the overtaking statistics for the second lane can be 1. Specifically, each time an overtaking action as defined above occurs, the overtaking statistics for the second lane increase by 1, and each time an overtaken vehicle as defined above occurs, the overtaking statistics for the second lane decrease by 1, causing the overtaking statistics for the second lane to change dynamically, thus reasonably obtaining a dynamic quantitative representation of the high degree of congestion between the first and second lanes. Figure 5 The diagram shown illustrates overtaking behavior in one embodiment. Figure 6 The image shown is a schematic diagram of an overtaking behavior in one embodiment.

[0079] Of course, the dynamic change range (dynamic change step size) of the overtaking statistics for the second lane can also be set to other values ​​according to actual needs. For example, if the dynamic change range is set to 10 or 100, the preset lane-changing threshold may need to be set to -100 if the dynamic change range is set to 100, and the preset lane-changing threshold may need to be set to -1000 or -2000 if the dynamic change range is set to 100.

[0080] In one embodiment, such as Figure 7 As shown, in response to at least one of the overtaking or being overtaken actions of a target vehicle relative to a vehicle in the second lane of a multi-lane road, a change in overtaking statistics for the second lane is triggered, including:

[0081] Step 702, in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, trigger a reduction in overtaking statistics for the second lane;

[0082] Step 704: In response to the target vehicle being overtaken by a vehicle in the second lane of the multi-lane road, trigger an increase in overtaking statistics for the second lane.

[0083] In this embodiment, the change in overtaking statistics is inversely correlated with the number of overtaking actions and positively correlated with the number of times an overtaken vehicle is overtaken. That is, the overtaking action defined above will decrease the overtaking statistics, while the overtaking action defined above will increase the overtaking statistics. Correspondingly, a smaller overtaking statistics quantitatively indicates a lower level of congestion in the first lane compared to the second lane, while a larger overtaking statistics quantitatively indicates a higher level of congestion in the first lane compared to the second lane.

[0084] In one embodiment, step 702 includes: in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a decrement of the overtaking statistic for the second lane by 1; step 704 includes: in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering an increment of the overtaking statistic for the second lane by 1.

[0085] In this embodiment, the change in overtaking statistics is inversely correlated with the number of overtaking actions and positively correlated with the number of times an overtaken vehicle is overtaken. The dynamic change range of the overtaking statistics for the second lane can be 1. Specifically, each time an overtaking action as defined above occurs, the overtaking statistics for the second lane decrease by 1, and each time an overtaken vehicle as defined above occurs, the overtaking statistics for the second lane increase by 1. This causes the overtaking statistics for the second lane to change dynamically, reasonably obtaining a dynamic quantitative representation of the high degree of congestion between the first and second lanes.

[0086] Of course, the dynamic change range of the overtaking statistics for the second lane can also be set to other values ​​according to actual needs. For example, if the dynamic change range is set to 10 or 100, the preset lane-changing threshold may need to be set to 100 if the dynamic change range is set to 100, and the preset lane-changing threshold may need to be set to 1000 or 2000 if the dynamic change range is set to 100.

[0087] In the technical solution provided by the above embodiments, the overtaking behavior and the overtaking behavior respectively trigger changes in the overtaking statistics. When the overtaking statistics dynamically change to a preset lane-changing threshold, it indicates that the first lane is more congested than the second lane, thus triggering a lane-changing prompt, thereby improving the effectiveness of lane-level vehicle lane-changing prompts.

[0088] To avoid wasting resources and providing unreasonable driving advice when calculating overtaking statistics under smooth and good traffic conditions, the computer equipment can also set activation conditions for changes in overtaking statistics for the second lane.

[0089] Specifically, in one embodiment, when a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane includes: when the target vehicle is traveling in the first lane of the multi-lane road and the traffic state of the multi-lane road changes from a non-congested state to a congested state, after clearing the overtaking statistics of the target vehicle with respect to the second lane to zero, initiating the step of triggering a change in the overtaking statistics for the second lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road.

[0090] Traffic conditions for multi-lane roads are road-level traffic conditions, typically including congested and uncongested states. Generally, traffic information displayed in map navigation applications indicates whether a section of road is congested, but it cannot show the degree of congestion between different lanes within that section of road.

[0091] The computer device can receive real-time traffic information about multi-lane roads and determine the traffic status of the multi-lane roads based on the real-time traffic information. Optionally, the computer device can obtain the current traffic status of the multi-lane road from a map navigation system. The computer device can also determine the traffic status of the multi-lane road based on the speed of a target vehicle traveling in the first lane. For example, if the target vehicle's speed has been below 20 km / h for the past 5 or 10 minutes, it can be determined that the multi-lane road is in a traffic congested state. Of course, the computer device can also determine the traffic status of the multi-lane road through other methods or by combining other factors such as vehicle speed and travel distance, such as the speed of the vehicle in front over a period of time, the distance the target vehicle has traveled over a period of time, etc. This application embodiment does not limit this.

[0092] When a target vehicle is traveling in the first lane of a multi-lane road, and the traffic condition of the multi-lane road changes from a non-congested state to a congested state, the computer equipment initiates an update on the overtaking statistic based on the target vehicle's overtaking and being overtaken actions relative to vehicles in the second lane. In other words, it initiates a comparison of the congestion levels between the first and second lanes. Furthermore, before initiating the update on the overtaking statistic, the computer equipment initializes the target vehicle's overtaking statistic relative to the second lane, resetting it to zero before triggering the update.

[0093] In one embodiment, the vehicle lane change notification method further includes: when the traffic state of the multi-lane road changes from a congested state to a non-congested state, ending the execution of the step of triggering a change in the overtaking statistics for the second lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road.

[0094] Specifically, when the target vehicle is traveling in the first lane of a multi-lane road, and the traffic condition of the multi-lane road changes from a congested state to a non-congested state, the computer equipment stops changing the overtaking statistics based on the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane, that is, it stops comparing the degree of congestion between the first lane and the second lane.

[0095] In the above embodiments, determining whether to initiate a comparison of the congestion levels between the first and second lanes based on the traffic conditions of the multi-lane road can avoid the waste of computer resources caused by judging overtaking and being overtaken when the multi-lane road is in a non-congested state and changing the overtaking statistics. It can also avoid unreasonable lane-changing suggestions when the traffic is not congested, thus improving the effectiveness of lane-changing prompts.

[0096] In this embodiment of the application, the detection of the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, and the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, that is, the overtaking behavior and the overtaking behavior defined above, can be implemented by the vehicle-mounted terminal installed on the target vehicle or by the server.

[0097] In one embodiment, a server can acquire real-time video footage of the multi-lane road. Using the target vehicle and vehicles in the second lane as observation objects, the server can detect vehicles in the second lane. When the relative position of a vehicle in the second lane changes relative to the target vehicle, it can determine that an overtaking or being overtaken has occurred. For example, if the real-time video shows the relative distance between a vehicle in the second lane and the target vehicle decreasing and then increasing again, it can be determined that an overtaking or being overtaken has occurred.

[0098] The computer equipment can also detect the overtaking or being overtaken behavior as defined above based on the changing direction of vehicles in the second lane in the field of view around the target vehicle captured by the target vehicle, or the changing direction of vehicles in the second lane in the field of view around the target vehicle captured by the road camera.

[0099] In one embodiment, the second lane is an adjacent lane of the first lane, and the step of determining the overtaking behavior of the target vehicle relative to the vehicles in the second lane of the multi-lane road includes: in response to the vehicle in the adjacent lane in the target vehicle's field of vision moving in from the top of the field of vision and then moving out from the bottom of the field of vision, determining that there is an overtaking behavior of the target vehicle relative to the vehicles in the second lane of the multi-lane road.

[0100] In one embodiment, the step of determining the overtaking behavior of the target vehicle relative to a vehicle in the second lane of a multi-lane road includes: in response to a vehicle in the adjacent lane in the target vehicle's field of vision moving in from the bottom of the field of vision and then moving out from the top of the field of vision, determining that there is an overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road.

[0101] Specifically, the target vehicle is equipped with an onboard camera that can capture the field of view around the target vehicle. This field of view can be located around the target vehicle, preferably located to the side and front of the target vehicle. When a vehicle in the adjacent lane is present in the field of view, the camera detects the vehicle's change of direction within the field of view from the moment the vehicle enters the field of view. When a vehicle in the adjacent lane moves from the top of the field of view into the field of view and then from the bottom, it is determined that the target vehicle has overtaken a vehicle in the second lane of the multi-lane road, meaning the target vehicle has passed the vehicle in the adjacent lane. When a vehicle in the adjacent lane moves from the bottom of the field of view into the field of view and then from the top, it is determined that the target vehicle has been overtaken by a vehicle in the second lane of the multi-lane road, meaning the target vehicle has been overtaken by the vehicle in the adjacent lane.

[0102] It is understandable that when a vehicle in an adjacent lane moves into the view from the top of the view and then moves out of the view again, or when a vehicle in an adjacent lane moves into the view from the bottom of the view and then moves out of the view again, it can be assumed that there is no overtaking or being overtaken relationship between the vehicle and the target vehicle, and the overtaking statistics of the adjacent lane will not change. The system will continue to wait for the next vehicle to move in.

[0103] In one embodiment, the vehicle lane change prompting method further includes: acquiring a field-of-view image of the target vehicle; performing target detection on the field-of-view image to determine the area where the adjacent lane of the first lane is located and the vehicles in the field-of-view image; determining the movement direction of the vehicles located in the area where the adjacent lane is located in the field-of-view image; and determining the overtaking behavior or being overtaken behavior of the target vehicle relative to the vehicles in the adjacent lane based on the movement direction.

[0104] Specifically, for the acquired field of view, the computer device performs object detection on the field of view to detect whether a vehicle appears in the field of view and the position of the vehicle. When a vehicle is detected in the field of view, it is determined whether the vehicle is located in an adjacent lane. If so, the direction of movement of the vehicle in the field of view is determined, and based on the direction of movement, it is determined whether the target vehicle is overtaking or being overtaken relative to the target vehicle.

[0105] In one embodiment, the computer device selects a vehicle moving into the field of view from the top or bottom as the observation target, determines its direction of movement in the field of view, and determines its overtaking relationship with the target vehicle. After the vehicle disappears from the bottom or top of the field of view, the computer device continues to select the next vehicle moving into the field of view from the top or bottom as the observation target, and so on, in sequence.

[0106] In one specific embodiment, the vehicle lane change notification method includes:

[0107] 1. Determine the traffic condition of a multi-lane road as congested;

[0108] 2. Initialization operation: After clearing the overtaking statistics of the target vehicle in adjacent lanes to zero, the view of the target vehicle is collected.

[0109] 3. Determine whether a vehicle in an adjacent lane in the field of view moves in from the top or bottom of the field of view.

[0110] 4. When a vehicle in an adjacent lane moves into the view from the top and disappears from the bottom, the overtaking statistic for that adjacent lane is reduced by 1; otherwise, the overtaking statistic for that adjacent lane is not changed, and the system continues to wait for the next vehicle to move into the view.

[0111] 5. When a vehicle in an adjacent lane moves into the view from the bottom and disappears from the top, the overtaking statistic for that adjacent lane is incremented by 1; otherwise, the overtaking statistic for that adjacent lane is not changed, and the system continues to wait for the next vehicle to move into the view.

[0112] 6. When the overtaking statistics reach 10, a lane-changing prompt will be triggered;

[0113] 7. After clearing the overtaking statistics of the target vehicle in the adjacent lane to zero, return to step 1 and continue until the multi-lane road is no longer congested or the vehicle changes lanes to an adjacent lane that is not congested.

[0114] like Figure 8 The diagram shown illustrates the field of vision of a target vehicle in one embodiment. (Refer to...) Figure 8 , Figure 8In the multi-lane road shown, the target vehicle captures real-world scene images within its field of view 802. For the real-world scene images within this field of view, the computer device sets the target area containing the adjacent lane 804 in this real-world scene image as the field of view image used to determine overtaking and being overtaken.

[0115] In this embodiment, by determining the direction of vehicle movement in the target vehicle's field of view, the overtaking relationship between vehicles in adjacent lanes and the target vehicle in the first lane is determined, thereby improving the accuracy of detecting the target vehicle's overtaking or being overtaken behavior relative to vehicles in adjacent lanes.

[0116] In one embodiment, the vehicle lane change notification method further includes:

[0117] When the target vehicle changes lanes to the second lane, the execution ends in response to at least one of the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

[0118] Specifically, when a target vehicle is detected changing lanes from the first lane to the second lane, the second lane is the lane the target vehicle is currently traveling in. The computer equipment no longer executes the step of changing the overtaking statistics for the second lane. In other words, at this point, the second lane in which the target vehicle is traveling becomes the "new" first lane, and the first lane becomes the "new" second lane. The computer equipment uses this second lane as the "new" first lane to determine and count overtaking or being overtaken by the target vehicle in this "new" first lane.

[0119] It is understandable that the timing of the target vehicle changing lanes to the second lane can be either before or after the prompt message for changing lanes to the second lane is triggered.

[0120] In one embodiment, after triggering the lane change prompt information, the vehicle lane change prompt method further includes: when the target vehicle has not changed lanes to the second lane and the traffic condition of the multi-lane road is congested, after clearing the overtaking statistics of the target vehicle with respect to the second lane to zero, returning to the step of triggering a change in the overtaking statistics of the second lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road.

[0121] In this embodiment, after triggering the lane-change prompt, it indicates that the second lane is better. If the target vehicle does not change lanes to the second lane, the computer determines that this round of statistics ends. Theoretically, the computer could directly continue to trigger lane-change prompts to the second lane. However, due to the high randomness of road conditions and interference from various factors, to avoid directly triggering lane-change prompts to the second lane without considering overtaking and being overtaken behavior, and to avoid inaccurate prompts due to ineffective analysis of road condition trends, the computer needs to restart the next round of determination and statistics on the target vehicle's overtaking statistics regarding the second lane.

[0122] In other words, after the computer equipment restarts the next round of judgment and statistics, it will trigger a lane-changing prompt or a non-lane-changing prompt based on the overtaking statistics of the next round. Before this, the computer equipment needs to re-detect the traffic status of the multi-lane road. If the traffic status of the multi-lane road is congested, it also needs to reset the overtaking statistics of the target vehicle in the second lane to zero before it can restart the next round of judgment and statistics.

[0123] In one embodiment, the vehicle lane change prompting method further includes: triggering a lane-change prompting message in response to a change in overtaking statistics to meet a no-lane-change threshold condition; the lane-change prompting message is used to prompt the vehicle to remain in the first lane.

[0124] The non-lane-changing threshold condition is a preset condition for maintaining the vehicle in the first lane of the target lane. For example, it could be a preset non-lane-changing threshold. The computer equipment can obtain the preset non-lane-changing threshold condition and compare the dynamically changing overtaking statistics with it. When the overtaking statistics change to meet the non-lane-changing threshold condition, a non-lane-changing prompt message is triggered. This prompt message could be, for example, "The current lane has a better speed; it is recommended to stay in the current lane."

[0125] In one embodiment, in response to a change in overtaking statistics to meet a non-lane-changing threshold condition, a non-lane-changing prompt message is triggered, including: in response to a change in overtaking statistics to a preset non-lane-changing threshold, after triggering the generation of a prompt message to maintain driving in the first lane, the prompt message is then read aloud.

[0126] Specifically, the terminal or server can respond to a change in overtaking statistics to a preset non-lane-changing threshold, triggering the generation of a prompt message to not change lanes to the second lane, which is then broadcast verbally by the terminal. For example, if the preset non-lane-changing threshold is -10, when the overtaking statistics change to -10, a prompt message to not change lanes to the second lane is generated and broadcast verbally.

[0127] In one embodiment, after triggering the non-lane-changing prompt message, the vehicle lane-changing prompt method further includes: when the target vehicle does not change lanes and the traffic condition of the multi-lane road is congested, resetting the overtaking statistics of the target vehicle with respect to the second lane to zero, and then returning to the step of triggering a change in the overtaking statistics of the second lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road.

[0128] In this embodiment, after triggering the "no lane change" prompt, it indicates that the first lane the target vehicle is traveling in is better. If the target vehicle does not change lanes to the second lane, the computer device determines that this round of statistics ends. Theoretically, the computer device can directly continue to trigger "no lane change" or "first lane is better" prompts. However, due to the high randomness of road conditions and interference from various factors, in order to avoid directly triggering "no lane change" prompts without referencing overtaking and being overtaken behavior, and to avoid inaccurate prompts due to ineffective analysis of road condition trends, the computer device needs to restart the next round of determination and statistics on the target vehicle's overtaking statistics in the second lane.

[0129] In other words, after the computer equipment restarts the next round of judgment and statistics, it will trigger a lane-changing prompt or a non-lane-changing prompt based on the overtaking statistics of the next round. Before this, the computer equipment needs to re-detect the traffic status of the multi-lane road. If the traffic status of the multi-lane road is congested, it also needs to reset the overtaking statistics of the target vehicle in the second lane to zero before it can restart the next round of judgment and statistics.

[0130] In one embodiment, the vehicle lane change notification method further includes: when the target vehicle changes lanes to the second lane, in response to at least one of the target vehicle's overtaking behavior and being overtaken relative to a vehicle in the first lane, triggering a change in the overtaking statistics for the first lane.

[0131] Specifically, when a target vehicle is detected changing lanes from the first lane to the second lane (where the target vehicle is currently traveling), the computer equipment determines and statistically analyzes the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the first lane. Optionally, if the multi-lane road is congested, the computer equipment may reset the overtaking statistics of the target vehicle relative to the first lane to zero before resuming the determination and statistical analysis of the target vehicle's overtaking or being overtaken behavior relative to vehicles in the first lane.

[0132] In one embodiment, the multi-lane road further includes a third lane, and the vehicle lane-change prompting method further includes: in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the third lane of the multi-lane road, triggering a change in the overtaking statistics for the third lane; the overtaking statistics for the second lane and the overtaking statistics for the third lane are independent of each other; in response to the change in the overtaking statistics for the third lane reaching a lane-change threshold condition, triggering a lane-change prompting message; the lane-change prompting message is used to prompt a lane change to the third lane.

[0133] In this embodiment, for multi-lane roads with more than two lanes, excluding the first lane where the target vehicle is traveling, the computer device can set overtaking statistics for each lane, determine and statistically analyze the overtaking and being overtaken behaviors of the target vehicle relative to vehicles in each lane, and adjust the overtaking statistics for the corresponding lanes. It can be understood that the overtaking statistics for each lane are independent of each other.

[0134] For example: refer to Figure 3 In the multi-lane road shown, when the target vehicle is traveling in the middle lane, the computer equipment can set two independent overtaking statistics: one for the left lane and the other for the right lane. The computer equipment acquires a view of the target vehicle's left front and adjusts the overtaking statistics for the left side based on overtaking and being overtaken actions observed in this view. Simultaneously, the computer equipment acquires a view of the target vehicle's right front and adjusts the overtaking statistics for the right side based on overtaking and being overtaken actions observed in this view. Similarly, when the target vehicle is traveling in the right lane, the computer equipment can set two independent overtaking statistics: one for the middle lane and the other for the left lane.

[0135] like Figure 9 The diagram shown is a flowchart of a vehicle lane change notification method in a specific embodiment.

[0136] Reference Figure 9 The method specifically includes the following steps:

[0137] Step 902: Determine whether the multi-lane road changes from a non-congested state to a congested state;

[0138] Step 904: For the target vehicle traveling in the first lane of a multi-lane road, set the overtaking statistics for the second lane.

[0139] Step 904: Reset the overtaking statistics for the second lane to zero;

[0140] Step 906: Start acquiring the field of view of the target vehicle;

[0141] Step 908: Capture vehicles in the second lane that appear in the field of view;

[0142] Step 910: Determine the direction of movement of the vehicle in the field of view; if the direction of movement is from the bottom of the field of view to the top, proceed to step 912; if the direction of movement is from the top of the field of view to the bottom, proceed to step 914.

[0143] Step 912: Increment the overtaking statistics for the second lane by 1;

[0144] Step 914: Decrease the overtaking statistics for the second lane by 1;

[0145] Step 916: Determine if the overtaking statistics for the second lane have reached 10. If yes, proceed to step 918 and trigger a lane-changing prompt. If no, return to step 908 to continue execution.

[0146] Step 920: Determine if the overtaking statistics for the second lane have reached -10. If yes, proceed to step 922 and trigger the "Do not change lanes" prompt message. If no, return to step 908 to continue execution.

[0147] Step 924, end this judgment;

[0148] Step 926: Determine if the multi-lane road is in a state of traffic congestion. If yes, return to step 908 to continue execution; otherwise, end.

[0149] The aforementioned lane-change prompting method, for a target vehicle traveling in the first lane of a multi-lane road, responds to at least one of the overtaking or being overtaken behaviors of the target vehicle relative to vehicles in the second lane of the multi-lane road. This triggers a change in the overtaking statistics for the second lane. Since the overtaking and being overtaken behaviors cause the overtaking statistics to change in opposite directions, the overtaking statistics for the second lane are dynamically changing. The dynamically changing overtaking statistics can characterize the degree of congestion between the first and second lanes within a short period of time, and uncover the trend of congestion changes between the first and second lanes within that short period of time. When the overtaking statistics change to meet the lane-change threshold condition, that is, when it indicates that the first lane is more congested than the second lane, a lane-change prompt is triggered to prompt the user to change lanes to the second lane. This timely and valuable lane-level driving suggestion can promptly remind the user and improve the effectiveness of the lane-change prompt.

[0150] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0151] Based on the same inventive concept, this application also provides a vehicle lane change prompting device for implementing the vehicle lane change prompting method described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more vehicle lane change prompting device embodiments provided below can be found in the limitations of the vehicle lane change prompting method above, and will not be repeated here.

[0152] In one embodiment, such as Figure 10 As shown, a vehicle lane change prompting device 1000 is provided, including: a statistics module 1002 and a prompting module 1004, wherein:

[0153] The statistics module 1002 is used to trigger a change in the overtaking statistics for the second lane when the target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road; wherein the overtaking behavior and being overtaken behavior cause the overtaking statistics to change in opposite directions; the overtaking statistics quantitatively represent the relationship between the degree of congestion between the first lane and the second lane.

[0154] The prompt module 1004 is used to trigger a lane change prompt message in response to a change in overtaking statistics that meets the lane change threshold condition; the lane change prompt message is used to prompt the driver to change lanes to the second lane.

[0155] In one embodiment, the statistics module 1002 is further configured to, in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger an increase in the overtaking statistics for the second lane; and in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger a decrease in the overtaking statistics for the second lane.

[0156] In one embodiment, the statistics module 1002 is further configured to, in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger an increment of 1 in the overtaking statistics of the second lane; and in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, trigger a decrement of 1 in the overtaking statistics of the second lane.

[0157] In one embodiment, the statistics module 1002 is further configured to, when the target vehicle is traveling in the first lane of a multi-lane road and the traffic state of the multi-lane road changes from a non-congested state to a congested state, reset the overtaking statistics of the target vehicle with respect to the second lane to zero, and then initiate the execution of response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

[0158] In one embodiment, the statistics module 1002 is further configured to terminate the execution of responding to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road when the traffic state of the multi-lane road changes from a traffic congestion state to a traffic non-congestion state, triggering a change in the overtaking statistics for the second lane.

[0159] In one embodiment, the vehicle lane change warning device 1000 further includes:

[0160] The behavior determination module is used when the second lane is an adjacent lane of the first lane. In response to a vehicle in the adjacent lane in the target vehicle's field of vision moving in from the top of the field of vision and then moving out from the bottom of the field of vision, it determines that there is an overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road.

[0161] In one embodiment, the behavior determination module is configured to determine that there is an overtaking behavior of the target vehicle relative to a vehicle in the second lane of a multi-lane road in response to a vehicle in the target vehicle's field of vision moving in from the bottom of the field of vision and then moving out from the top of the field of vision.

[0162] In one embodiment, the behavior determination module is used to acquire the field of view image collected by the target vehicle; perform target detection on the field of view image to determine the area where the adjacent lane of the first lane is located in the field of view image and the vehicles in the field of view image; determine the movement direction of the vehicles located in the area where the adjacent lane is located in the field of view image; and determine the overtaking behavior or being overtaken behavior of the target vehicle relative to the vehicles in the adjacent lane based on the movement direction.

[0163] In one embodiment, the prompting module 1004 is further configured to respond to a change in overtaking statistics to a preset lane-changing threshold, trigger the generation of a prompt message for changing lanes to the second lane, and then broadcast the prompt message via voice.

[0164] In one embodiment, the statistics module 1002 is further configured to terminate the execution of responding to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road after the target vehicle changes lanes to the second lane, triggering a change in the overtaking statistics for the second lane.

[0165] In one embodiment, the statistics module 1002 is further configured to, after triggering the lane change prompt information, when the target vehicle has not changed lanes to the second lane and the traffic condition of the multi-lane road is in a traffic congestion state, reset the overtaking statistics of the target vehicle with respect to the second lane to zero, and then initiate the execution of response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics of the second lane.

[0166] In one embodiment, the prompting module 1004 is further configured to trigger a lane-change prompt message in response to a change in overtaking statistics to meet the lane-change threshold condition; the lane-change prompt message is used to prompt the driver to stay in the first lane.

[0167] In one embodiment, the prompting module 1004 is further configured to respond to a change in overtaking statistics to a preset non-lane-changing threshold, triggering the generation of a prompt message to maintain driving in the first lane, and then to voice-broadcast the prompt message.

[0168] In one embodiment, the statistics module 1002 is further configured to, after triggering the non-lane-change prompt information, when the target vehicle changes lanes to the second lane, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to the vehicles in the first lane, trigger a change in the overtaking statistics for the first lane.

[0169] In one embodiment, the multi-lane road further includes a third lane, and the statistics module 1002 is further configured to trigger a change in the overtaking statistics for the third lane in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to a vehicle in the third lane of the multi-lane road; the overtaking statistics for the second lane are independent of the overtaking statistics for the third lane.

[0170] The prompting module 1004 is further configured to trigger a lane-changing prompt message in response to a change in the overtaking statistics for the third lane reaching a lane-changing threshold condition; the lane-changing prompt message is used to prompt a lane change to the third lane; the traffic state is configured to activate the statistics module in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road when the traffic state changes from a non-congested state to a congested state, triggering a change in the overtaking statistics for the second lane.

[0171] The aforementioned lane change prompting device 1000, for a target vehicle traveling in the first lane of a multi-lane road, responds to at least one of the overtaking or being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane. Since the overtaking and being overtaken behaviors cause the overtaking statistics to change in opposite directions, the overtaking statistics for the second lane are dynamically changing. The dynamically changing overtaking statistics can characterize the degree of congestion between the first and second lanes within a short period of time, and reveal the trend of congestion between the first and second lanes within that short period of time. When the overtaking statistics change to meet the lane change threshold condition, that is, when it indicates that the first lane is more congested than the second lane, a lane change prompt is triggered to prompt the user to switch to the second lane. This timely and valuable lane-level driving suggestion can promptly remind the user and improve the effectiveness of the lane change prompt.

[0172] Each module in the aforementioned vehicle lane change prompting device 1000 can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0173] In one embodiment, a computer device is provided, the computer device may be... Figure 1 The internal structure of the terminal 102 shown can be illustrated as follows: Figure 11As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements a vehicle lane change notification method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0174] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0175] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the vehicle lane change prompting method provided in various embodiments of this application. For example: when a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the degree of congestion between the first lane and the second lane; in response to the change in the overtaking statistics reaching a lane change threshold condition, a lane change prompting information is triggered; the lane change prompting information is used to prompt a lane change to the second lane.

[0176] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the steps of the vehicle lane change prompting method provided in various embodiments of this application. For example: when a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the degree of congestion between the first lane and the second lane; in response to the change in the overtaking statistics reaching a lane change threshold condition, a lane change prompting information is triggered; the lane change prompting information is used to prompt a lane change to the second lane.

[0177] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the vehicle lane change prompting method provided in various embodiments of this application. For example: when a target vehicle is traveling in the first lane of a multi-lane road, in response to at least one of the overtaking behavior and being overtaken behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road, a change in the overtaking statistics for the second lane is triggered; wherein the overtaking behavior and the being overtaken behavior respectively cause the overtaking statistics to change in opposite directions; the overtaking statistics quantify the degree of congestion between the first lane and the second lane; in response to the change in the overtaking statistics reaching a lane change threshold condition, a lane change prompting information is triggered; the lane change prompting information is used to prompt a lane change to the second lane.

[0178] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0179] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0180] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0181] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for providing lane change notification for vehicles, characterized in that, The method includes: When a target vehicle is traveling in the first lane of a multi-lane road, a change in the overtaking statistic for the second lane is triggered in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road; and a change in the overtaking statistic for the second lane is triggered in response to the target vehicle being overtaken relative to a vehicle in the second lane of the multi-lane road; wherein the overtaking behavior and the being overtaken behavior cause the overtaking statistic to change dynamically in opposite directions; the overtaking statistic quantitatively represents the degree of congestion between the first lane and the second lane; In response to the dynamic change of the overtaking statistics to meet the lane-changing threshold condition, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the lane to change to the second lane; wherein, the lane-changing threshold condition is a preset lane-changing threshold, and when the overtaking statistics dynamically change to the preset lane-changing threshold, it indicates that the first lane is more congested than the second lane.

2. The method according to claim 1, characterized in that, The method of triggering a change in overtaking statistics for the second lane in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, and triggering a change in the overtaking statistics for the second lane in response to the target vehicle being overtaken relative to a vehicle in the second lane of the multi-lane road, includes: In response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, the overtaking statistics for the second lane are increased. In response to the target vehicle being overtaken relative to a vehicle in the second lane of the multi-lane road, a reduction in overtaking statistics for the second lane is triggered.

3. The method according to claim 2, characterized in that, The response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, triggering an increase in overtaking statistics for the second lane, includes: In response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, the overtaking statistic for the second lane is incremented by 1; The response to the target vehicle being overtaken relative to a vehicle in the second lane of the multi-lane road, triggering a reduction in overtaking statistics for the second lane, includes: In response to the target vehicle being overtaken by a vehicle in the second lane of the multi-lane road, the overtaking statistic for the second lane is decremented by 1.

4. The method according to claim 1, characterized in that, The step of triggering a change in overtaking statistics for the second lane in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road when the target vehicle is traveling in the first lane of the multi-lane road, and triggering a change in the overtaking statistics for the second lane in response to the target vehicle being overtaken by a vehicle in the second lane of the multi-lane road, includes: When the target vehicle is traveling in the first lane of a multi-lane road, and the traffic condition of the multi-lane road changes from a non-congested state to a congested state, the overtaking statistics of the target vehicle with respect to the second lane are reset to zero. Then, the following steps are initiated: in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road, the overtaking statistics for the second lane are triggered to change; and in response to the target vehicle being overtaken by a vehicle in the second lane of the multi-lane road, the overtaking statistics for the second lane are triggered to change.

5. The method according to claim 4, characterized in that, The method further includes: When the traffic state of the multi-lane road changes from the traffic congestion state to the traffic non-congestion state, the steps of triggering a change in the overtaking statistics for the second lane in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road and triggering a change in the overtaking statistics for the second lane in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road are terminated.

6. The method according to claim 1, characterized in that, The second lane is the adjacent lane to the first lane. The steps for determining the overtaking behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road include: In response to a vehicle in the adjacent lane in the target vehicle's field of view moving in from the top of the field of view and then moving out from the bottom of the field of view, it is determined that the target vehicle has overtaken a vehicle in the second lane of the multi-lane road.

7. The method according to claim 6, characterized in that, The steps for determining the overtaking behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road include: In response to a vehicle in the adjacent lane in the target vehicle's field of view moving in from the bottom of the field of view and then moving out from the top of the field of view, it is determined that the target vehicle has been overtaken by a vehicle in the second lane of the multi-lane road.

8. The method according to claim 6, characterized in that, The method further includes: Acquire the field-of-view image captured by the target vehicle; Target detection is performed on the field of view to determine the area of ​​the adjacent lanes of the first lane in the field of view and the vehicles in the field of view; Determine the direction of movement of vehicles located in the adjacent lane area within the field of view; The overtaking or being overtaken behavior of the target vehicle relative to vehicles in the adjacent lane is determined based on the direction of movement.

9. The method according to claim 1, characterized in that, The response to the dynamic change of the overtaking statistics to meet the lane-changing threshold condition, triggering a lane-changing prompt message, includes: In response to the dynamic change of the overtaking statistics to a preset lane-changing threshold, a prompt message for changing lanes to the second lane is generated and then the prompt message is broadcast verbally.

10. The method according to claim 1, characterized in that, The method further includes: When the target vehicle changes lanes to the second lane, the execution of the steps of triggering a change in the overtaking statistics for the second lane in response to the overtaking behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road ends, and triggering a change in the overtaking statistics for the second lane in response to the overtaking behavior of the target vehicle relative to vehicles in the second lane of the multi-lane road.

11. The method according to claim 1, characterized in that, After triggering the lane change prompt message, the method further includes: When the target vehicle does not change lanes to the second lane and the traffic condition of the multi-lane road is congested, the overtaking statistics of the target vehicle with respect to the second lane are cleared to zero. Then, the steps of triggering a change in the overtaking statistics of the second lane in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, and triggering a change in the overtaking statistics of the second lane in response to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road continue to be executed.

12. The method according to claim 1, characterized in that, The method further includes: In response to the dynamic change of the overtaking statistics to meet the non-lane-changing threshold condition, a non-lane-changing prompt message is triggered; the non-lane-changing prompt message is used to remind the driver to stay in the first lane.

13. The method according to claim 12, characterized in that, The response to the dynamic change of the overtaking statistics to meet the no-lane-change threshold condition, triggering a no-lane-change prompt message, includes: In response to the dynamic change of the overtaking statistics to a preset non-lane-changing threshold, a prompt message to remain in the first lane is generated and then the prompt message is broadcast verbally.

14. The method according to claim 12, characterized in that, After triggering the lane-change warning message, the method further includes: When the target vehicle changes lanes to the second lane, in response to the target vehicle's overtaking behavior relative to vehicles in the first lane, the overtaking statistics for the first lane change is triggered, and in response to the target vehicle being overtaken relative to vehicles in the first lane, the overtaking statistics for the first lane change is triggered.

15. The method according to claim 1, characterized in that, The multi-lane road also includes a third lane, and the method further includes: In response to the target vehicle's overtaking behavior relative to a vehicle in the third lane of the multi-lane road, a change in the overtaking statistics for the third lane is triggered; and in response to the target vehicle being overtaken relative to a vehicle in the third lane of the multi-lane road, a change in the overtaking statistics for the third lane is triggered; the overtaking statistics for the second lane and the overtaking statistics for the third lane are independent of each other. In response to the dynamic change of the overtaking statistics for the third lane to meet the lane-changing threshold condition, a lane-changing prompt message is triggered; the lane-changing prompt message is used to prompt the driver to change lanes to the third lane.

16. The method according to any one of claims 1 to 15, characterized in that, The method further includes: Receive real-time traffic information about the multi-lane road; The traffic status of the multi-lane road is determined based on the real-time traffic information; When the traffic state changes from a non-congested state to a congested state, the following steps are initiated: responding to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane; and responding to the overtaking behavior of the target vehicle relative to a vehicle in the second lane of the multi-lane road, triggering a change in the overtaking statistics for the second lane.

17. A vehicle lane change warning device, characterized in that, The device includes: A statistics module is configured to, when a target vehicle is traveling in the first lane of a multi-lane road, trigger a change in the overtaking statistics for the second lane in response to the target vehicle's overtaking behavior relative to a vehicle in the second lane of the multi-lane road; and to trigger a change in the overtaking statistics for the second lane in response to the target vehicle being overtaken relative to a vehicle in the second lane of the multi-lane road; wherein the overtaking behavior and the being overtaken behavior cause the overtaking statistics to change dynamically in opposite directions; the overtaking statistics quantify the degree of congestion between the first lane and the second lane; The prompting module is used to respond to the dynamic change of the overtaking statistics to meet the lane-changing threshold condition and trigger a lane-changing prompt message; the lane-changing prompt message is used to prompt the lane to change to the second lane; wherein, the lane-changing threshold condition is a preset lane-changing threshold, and when the overtaking statistics dynamically change to the preset lane-changing threshold, it indicates that the first lane is more congested than the second lane.

18. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 16.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 16.

20. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 16.

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