Vehicle lane change warning method, device, electronic device and storage medium

Abstract

The vehicle lane change warning method in an embodiment of the present invention obtains navigation information, map information, and the target vehicle position of the target vehicle in response to a lane change request, determines the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, and the dashed-to-real line switching position based on the navigation information and map information of the target vehicle, determines the lane change warning reference position based on the positional relationship between the above position information and the target vehicle position, and issues a warning if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold. The method uses navigation information and map information to determine the warning reference position for lane change control, and determines the warning position based on the warning reference position, so as to prompt the driver to take over driving based on the warning, thereby solving the problem that when traffic conditions are complex or the vehicle computer decision fails, the driver cannot take over the driving operation in time and cannot complete the off-ramp according to the navigation path.

Description

Technical Field

[0001] The present application relates to the field of driving path planning, and in particular to a vehicle lane change warning method, device, electronic device and storage medium. Background Art

[0002] In path decision-making for autonomous or assisted driving, specific path planning is required for entering the ramp during highway driving. There are many road connection topologies between the main road and the ramp entrance of the highway, including planning issues such as the presence of solid lane change lines at the ramp entrance and the path decision-making for oncoming vehicles changing lanes.

[0003] In the actual path planning process, existing technologies mainly determine the timing of road changes based on automatic path planning decisions. However, when traffic conditions are complex or the vehicle-computer decision-making fails, it is unable to effectively provide autonomous driving strategies and control. As a result, the opportunity to change lanes and exit the ramp may be missed, resulting in the driver being unable to take over the driving operation in time and unable to complete the exit ramp operation according to the navigation path. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a vehicle lane change warning method, device, electronic device and storage medium to solve the existing problem that when the traffic conditions are complex or the vehicle computer decision fails, the driver cannot take over the driving operation in time and cannot complete the off-ramp according to the navigation path.

[0005] The present invention provides a vehicle lane change warning method, which includes: in response to a lane change request, obtaining navigation information, map information, and a target vehicle position of a target vehicle; determining a target ramp entrance starting position, a target ramp entrance end position, a dashed-to-solid line switching position, and a real-dash line switching position according to the navigation information and map information of the target vehicle; determining a lane change warning reference position according to a positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, the real-dash line switching position, and the target vehicle position; and generating lane change warning content if a longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold, and issuing a warning according to the lane change warning content.

[0006] In one embodiment of the present invention, determining the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, the real-dashed line switching position, and the target vehicle position includes: if a longitudinal distance from the target vehicle position to the real-dashed line switching position is greater than a longitudinal distance from the target vehicle position to the target ramp entrance end position, comparing the longitudinal distance from the target vehicle position to the dashed-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position; if the longitudinal distance from the target vehicle position to the dashed-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, determining the dashed-solid line switching position as the lane change warning reference position.

[0007] In one embodiment of the present invention, after comparing the longitudinal distance from the target vehicle position to the dotted-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position, the vehicle lane change warning method further includes: if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, comparing the longitudinal distance from the target vehicle position to the dotted-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance end position; if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than the longitudinal distance from the target vehicle position to the target ramp entrance end position, determining the dotted-solid line switching position as the lane change warning reference position.

[0008] In one embodiment of the present invention, after comparing the longitudinal distance between the target vehicle position and the position where the dashed-solid line switches with the longitudinal distance between the target vehicle position and the target ramp entrance end position, the vehicle lane change warning method further includes: if the longitudinal distance between the target vehicle position and the position where the dashed-solid line switches is greater than or equal to the longitudinal distance between the target vehicle position and the target ramp entrance end position, determining the target ramp entrance end position as the lane change warning reference position.

[0009] In one embodiment of the present invention, determining the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, the real-dashed line switching position, and the target vehicle position includes: if a longitudinal distance from the target vehicle position to the real-dashed line switching position is less than or equal to a longitudinal distance from the target vehicle position to the target ramp entrance end position, and the longitudinal distance from the target vehicle position to the real-dashed line switching position is greater than a longitudinal distance from the target vehicle position to the target ramp entrance starting position, then comparing the longitudinal distance from the target vehicle position to the dashed-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position; if the longitudinal distance from the target vehicle position to the dashed-solid line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then determining the dashed-solid line switching position as the lane change warning reference position.

[0010] In one embodiment of the present invention, after comparing the longitudinal distance from the target vehicle position to the dotted-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position, the vehicle lane change warning method further includes at least one of the following: if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, determining the longitudinal distance from the dotted-solid line switching position to the target ramp entrance end position; if the longitudinal distance from the dotted-solid line switching position to the target ramp entrance end position is greater than or equal to a preset minimum lane change distance, determining the target ramp entrance end position as the lane change warning reference position; or, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, determining the longitudinal distance from the dotted-solid line switching position to the target ramp entrance end position; if the longitudinal distance from the dotted-solid line switching position to the target ramp entrance end position is less than the preset minimum lane change distance, determining the dotted-solid line switching position as the lane change warning reference position.

[0011] In one embodiment of the present invention, determining the lane change warning reference position based on the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, and the positional relationship between the dashed-solid line switching position and the target vehicle position includes: if the longitudinal distance from the target vehicle position to the dashed-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then determining the longitudinal distance from the dashed-solid line switching position to the target ramp entrance end position; if the longitudinal distance from the dashed-solid line switching position to the target ramp entrance end position is greater than or equal to a preset shortest lane change distance, then determining the target ramp entrance end position as the lane change warning reference position.

[0012] In one embodiment of the present invention, after determining the longitudinal distance from the solid-dashed line switching position to the target ramp entrance endpoint, the vehicle lane change warning method further includes: if the longitudinal distance from the solid-dashed line switching position to the target ramp entrance endpoint is less than a preset shortest lane change distance, determining the solid-dashed line switching position as the lane change warning reference position.

[0013] In one embodiment of the present invention, determining the target ramp entrance starting point, the target ramp entrance end point, the dashed-to-solid line switching position, and the real-dashed line switching position based on the navigation information and map information of the target vehicle includes: determining the existence status of the target ramp within a preset detection distance range of the target vehicle based on the navigation information; if the existence status of the target ramp within the preset detection distance range is existence, determining road connection parameters between the current driving road of the target vehicle and the target ramp based on the road connection relationship in the map information, the road connection parameters including the target ramp entrance starting point and the target ramp entrance end point.

[0014] An embodiment of the present invention also provides a vehicle lane change warning device, which includes: a position information acquisition module, which is used to obtain navigation information, map information, and the target vehicle position of a target vehicle in response to a lane change request; determine the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, and the real-dashed line switching position based on the navigation information and map information of the target vehicle; a warning position determination module, which is used to determine the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, the real-dashed line switching position and the target vehicle position; and a warning module, which is used to generate lane change warning content if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold, and to issue a warning based on the lane change warning content.

[0015] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle lane change warning method as described in any one of the above embodiments.

[0016] An embodiment of the present invention further provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle lane change warning method as described in any one of the above embodiments.

[0017] The vehicle lane change warning method in an embodiment of the present invention obtains navigation information, map information, and the target vehicle position of the target vehicle in response to a lane change request, determines the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, and the dashed-to-real line switching position based on the navigation information and map information of the target vehicle, determines the lane change warning reference position based on the positional relationship between the above position information and the target vehicle position, and issues a warning if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold. The method uses navigation information and map information to determine the warning reference position for lane change control, and determines the warning position based on the warning reference position, so as to prompt the driver to take over driving based on the warning, thereby solving the problem that when traffic conditions are complex or the vehicle computer decision fails, the driver cannot take over the driving operation in time and cannot complete the off-ramp according to the navigation path.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0020] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0021] Figure 2 This is a flow chart of a vehicle lane change warning method shown in an exemplary embodiment of the present application;

[0022] Figure 3 is a schematic diagram of road connections and road lines shown in an exemplary embodiment of the present application;

[0023] Figure 4 This is a flowchart of a specific vehicle lane change warning method shown in an exemplary embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a specific target ramp entrance scenario shown in an exemplary embodiment of the present application;

[0025] Figure 6 This is a specific alarm reference point selection flow chart shown in an exemplary embodiment of the present application;

[0026] Figure 7 1 is a schematic diagram of a vehicle lane change warning device according to an exemplary embodiment of the present application;

[0027] Figure 8 It is a structural diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0028] The following will describe embodiments of the present invention with reference to the accompanying drawings and specific embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0030] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0031] The term "and / or" used in this application describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0032] First of all, it should be noted that a ramp usually refers to a small section of auxiliary lane that provides vehicles with access to and from the main line, or an auxiliary connecting section of other main line land bridges, inclined roads, lead-in connecting roads, and collector-distributor roads, etc., which is the main traffic construction that constitutes the road interchange.

[0033] A solid line on a highway is placed midway to separate lanes traveling in the same direction and prohibit lane changes. A dashed line at an intersection serves as a stop line when no pedestrian crossing is marked, or to separate traffic moving in the same direction. It is placed on the dividing line between lanes traveling in the same direction. Vehicles are allowed to cross the line to change lanes if safety is guaranteed. When dashed lines function alongside solid lines, they are placed midway to separate lanes traveling in the same direction. Lane changes or crossing the solid white line are prohibited.

[0034] The present application may also provide the following beneficial effects: determining the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, the real-dashed line switching position and the target vehicle position, thereby reducing the amount of data required for judging the warning reference position and effectively reducing the computing power required for warning judgment.

[0035] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0036] Reference Figure 1As shown, the system architecture may include a vehicle-side 101 and a computer device 102. Specifically, the vehicle-side 101 is configured to, in response to a lane change request, obtain navigation information, map information, and the target vehicle's position of the target vehicle and provide the information to the computer device 102 for processing. The computer device 102 may be at least one of a microcomputer, an embedded computer, a network computer, and the like. Relevant technicians may implement, on the computer device 102, determining the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, and the real-dashed line switching position based on the navigation information and map information of the target vehicle, and determining a lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, the real-dashed line switching position, and the target vehicle position. If the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold, then generating lane change warning content and issuing a warning based on the lane change warning content.

[0037] Illustratively, after the computer device 102 obtains the navigation information, map information, and target vehicle position of the target vehicle from the vehicle end 101 in response to the lane change request, it determines the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, and the dashed-solid line switching position based on the navigation information and map information of the target vehicle, and determines the lane change warning reference position based on the positional relationship between the above position information and the target vehicle position. If the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to the preset warning distance threshold, a warning is issued. This method uses navigation information and map information to determine the warning reference position for lane change control, and determines the warning position based on the warning reference position, so as to prompt the driver to take over driving based on the warning, thereby solving the problem that when the traffic conditions are complicated or the vehicle-computer decision fails, the driver cannot take over the driving operation in time and cannot complete the off-ramp according to the navigation path.

[0038] Figure 2 This is a flow chart of a vehicle lane change warning method shown in an exemplary embodiment of the present application. The vehicle lane change warning method can be Figure 1 The system architecture of the vehicle end 101 and the computer device 102 shown in FIG is executed. Figure 2 As shown, the flowchart of the vehicle lane change warning method includes at least steps S210 to S240, which are described in detail as follows:

[0039] In step S210 , in response to the lane change request, navigation information, map information, and position of the target vehicle are acquired.

[0040] In one embodiment of the present application, the above-mentioned map information may be map information of a high-precision map for autonomous driving, or it may be other map information collected based on lane change accuracy requirements that can implement this solution. The specific source of the map information is not limited here.

[0041] In step S220, the target ramp entrance starting position, the target ramp entrance ending position, the dashed-solid line switching position, and the real-dashed line switching position are determined according to the navigation information and map information of the target vehicle.

[0042] A presence status of a target ramp of the target vehicle within a preset detection distance range is determined based on the navigation information. If the presence status of the target ramp is "present" within the preset detection distance range, road connection parameters between a current road of the target vehicle and the target ramp are determined based on a road connection relationship in the map information. The road connection parameters include a starting position and an end position of an entrance to the target ramp.

[0043] In one embodiment of the present application, the above-mentioned preset detection distance range is a distance range used to determine the existence status of the target ramp in real time based on map information and navigation information while the target vehicle is driving. The preset detection distance range can be determined based on the test distance at which a warning is issued and the driver takes over driving during the autonomous driving test, or it can be determined based on the real-time driving speed of the target vehicle. No specific limitation is made herein on the determination of the preset detection distance range.

[0044] In one embodiment of the present application, the description of the target ramp entrance starting position and the target ramp entrance end position can be specifically described in Figure 3 The road connections shown are represented in the schematic diagram with the road lines.

[0045] like Figure 3 As shown, Figure 3 The target ramp entrance starting point is the first connection point between the target ramp and the main road in the direction of travel along the main road. Figure 3 As shown by point m in the figure, point m is the first connection point between the target ramp and the main road along the road driving direction, that is, the starting point of the target ramp entrance. The target ramp entrance end position is the position relationship between the main road and the ramp. Along the main road driving direction, the last connection point between the target ramp and the main road is the starting point of the target ramp entrance, as shown in the figure. Figure 3 As shown by point n in the figure, point n is the last connection point between the target ramp and the main road along the road driving direction, that is, the end point of the target ramp entrance.

[0046] In one embodiment of the present application, the dotted-solid line switching position refers to the position where the road line changes from a dotted line to a solid line at the target ramp entrance in the driving direction of the main road, such as Figure 3Point o in the figure is the position where the road line changes from a dotted line to a solid line at the entrance of the target ramp, that is, the position where the dotted-solid line switches. The position where the solid-dash line switches refers to the driving direction of the main road, where the road line changes from a solid line to a dotted line at the entrance of the target ramp, such as Figure 3 Point p in the figure is the position where the road line changes from a solid line to a dashed line at the entrance of the target ramp, that is, the position where the solid and dashed lines switch.

[0047] In step S230, a lane change warning reference position is determined according to the target ramp entrance starting position, the target ramp entrance ending position, the dashed-solid line switching position, the real-dashed line switching position, and the positional relationship of the target vehicle position.

[0048] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the real-dashed line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance end position, the longitudinal distance from the target vehicle position to the real-dashed line switching position is compared with the longitudinal distance from the target vehicle position to the target ramp entrance starting position.

[0049] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, the dotted-solid line switching position is determined as the lane change warning reference position.

[0050] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, the longitudinal distance from the target vehicle position to the dotted-solid line switching position is compared with the longitudinal distance from the target vehicle position to the end position of the target ramp entrance.

[0051] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than the longitudinal distance from the target vehicle position to the target ramp entrance end position, the dotted-solid line switching position is determined as the lane change warning reference position.

[0052] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance end position, the target ramp entrance end position is determined as the lane change warning reference position.

[0053] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the solid-dashed line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance end position, and the longitudinal distance from the target vehicle position to the solid-dashed line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then the longitudinal distance from the target vehicle position to the solid-dashed line switching position is compared with the longitudinal distance from the target vehicle position to the target ramp entrance starting position.

[0054] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, the dotted-solid line switching position is determined as the lane change warning reference position.

[0055] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, the longitudinal distance from the dotted-solid line switching position to the end position of the target ramp entrance is determined.

[0056] In one embodiment of the present application, if the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is greater than or equal to the preset shortest lane change distance, the target ramp entrance end position is determined as the lane change warning reference position.

[0057] In one embodiment of the present application, if the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is less than a preset shortest lane change distance, the solid-dashed line switching position is determined as the lane change warning reference position.

[0058] In one embodiment of the present application, if the longitudinal distance from the target vehicle position to the solid and dashed line switching position is less than or equal to the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, the longitudinal distance from the solid and dashed line switching position to the end position of the target ramp entrance is determined.

[0059] In one embodiment of the present application, if the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is greater than or equal to the preset shortest lane change distance, the target ramp entrance end position is determined as the lane change warning reference position.

[0060] In one embodiment of the present application, if the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is less than a preset shortest lane change distance, the solid-dashed line switching position is determined as the lane change warning reference position.

[0061] In step S240 , if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to the preset warning distance threshold, a lane change warning content is generated, and a warning is issued according to the lane change warning content.

[0062] In one embodiment of the present application, the lane change warning may be performed based on voice, text, warning sound, etc., so that the driver can take over driving according to the warning. The specific lane change warning method is not limited here.

[0063] In one embodiment of the present application, the preset warning distance threshold is determined based on the number of lanes between the target vehicle's current lane and the target ramp entrance lane, or can be determined based on a specific lateral distance. The specific determining factors of the preset warning distance threshold are not limited herein. In an embodiment of the present application, a method for determining the preset warning distance threshold can be determined based on the number of lanes between the target vehicle's current lane and the target ramp entrance lane. For example, if the number of lanes between the target vehicle's current lane and the target ramp entrance lane is 0 (the target vehicle's current lane and the target ramp entrance lane are the same lane), the preset warning distance threshold is 20 meters; if the number of lanes between the target vehicle's current lane and the target ramp entrance lane is 1, the preset warning distance threshold is 120 meters; if the number of lanes between the target vehicle's current lane and the target ramp entrance lane is 2, the preset warning distance threshold is 250 meters; if the number of lanes between the target vehicle's current lane and the target ramp entrance lane is 3, the preset warning distance threshold is 300 meters.

[0064] See also Figure 4 , Figure 4 This is a flow chart of a specific vehicle lane change warning method shown in an exemplary embodiment of the present application. The specific vehicle lane change warning method process can be specifically as follows Figure 1 The system architecture shown in the figure is implemented by Figure 1 The computer device 102 shown in FIG. 1 may also be implemented by other implementation environments, and the specific implementation environment is not limited here.

[0065] like Figure 4 As shown, in a specific embodiment of the present application, first, it is determined based on the navigation information whether there is a ramp that needs to be entered from the main road and the direction of the ramp within a certain distance (such as 2km) in the forward direction of the vehicle. In this specific embodiment, the subsequent description is based on the right down ramp. Secondly, according to the lane in which the vehicle is located, the relationship between the virtual-real switching point of the right lane and the starting and ending points of the ramp entrance is determined to determine the takeover alarm reference point. Finally, the alarm distance and alarm timing are determined based on the lane in which the vehicle is located and the alarm reference point. Among them, the ramp is consistent with the target ramp in the above embodiment, the vehicle is consistent with the target vehicle in the above embodiment, the virtual-real switching point is consistent with the virtual-real line switching position and the real-dashed line switching position in the above embodiment, the ramp entrance starting point and end point are consistent with the target ramp entrance starting position and the target ramp entrance end position in the above embodiment, the takeover alarm reference point is consistent with the lane change warning reference position in the above embodiment, and the alarm distance is consistent with the preset warning distance threshold in the above embodiment.

[0066] See also Figure 5 , Figure 5It is a schematic diagram of a specific target ramp entrance scenario shown in an exemplary embodiment of the present application.

[0067] See also Figure 6 , Figure 6 This is a specific alarm reference point selection flowchart shown in an exemplary embodiment of the present application.

[0068] In a specific embodiment of the present application, referring to Figure 5 and Figure 6 The takeover alarm reference point is determined based on the different positional relationships between the dashed and solid line switching points C / D of the main road lane and the ramp entrance starting point A / end point B. A is the ramp entrance starting point, which is consistent with the target ramp entrance starting point in the above embodiment; B is the ramp entrance end point, which is consistent with the target ramp entrance end point in the above embodiment; C is the solid dashed line switching point, which is consistent with the solid dashed line switching position in the above embodiment; and D is the dashed and solid line switching point, which is consistent with the dashed and solid line switching position in the above embodiment.

[0069] In a specific embodiment of the present application, the first step is to determine whether the switching point C of the solid and dashed lane line on the right side of the vehicle is after the ramp entrance end point B. If so, proceed to the second step; otherwise, proceed to the fourth step.

[0070] The second step is to determine whether the switch point D between the dashed and solid lines of the right lane of the vehicle is before the ramp entrance starting point A. If so, point D is selected as the takeover alarm reference point; otherwise, the process proceeds to the third step.

[0071] The third step is to determine whether the switch point D between the dashed and solid lane lines on the right side of the vehicle is between the ramp entrance starting point A and the ramp entrance end point B. If so, point B is selected as the takeover alarm reference point; otherwise, point D is selected as the takeover alarm reference point.

[0072] The fourth step is to determine whether the dashed line switching point C on the right lane of the vehicle is before the ramp entrance starting point A. If so, proceed to step five; otherwise, proceed to step six.

[0073] The fifth step is to determine whether the distance between the solid and dashed lane line switch point C on the right side of the vehicle and the ramp entrance endpoint B is greater than a threshold (e.g., 50 meters). If so, point B is selected as the takeover alarm reference point; otherwise, point D is selected as the takeover alarm reference point.

[0074] The sixth step is to determine whether the switch point D between the dashed and solid lines of the right lane of the vehicle is before the ramp entrance starting point A. If so, proceed to step 7; otherwise, select point D as the takeover alarm reference point.

[0075] The seventh step is to determine whether the distance between the solid and dashed lane line switch point C on the right side of the vehicle and the ramp entrance endpoint B is greater than a threshold (e.g., 50 meters). If so, point B is selected as the takeover alarm reference point; otherwise, point D is selected as the takeover alarm reference point.

[0076] The eighth step is to determine the longitudinal distance from the takeover alarm reference point based on the lateral distance relationship between the vehicle's lane position (i.e., the current lane) and the ramp entrance.

[0077] A vehicle lane change warning method according to an embodiment of the present invention obtains navigation information, map information, and the target vehicle's position in response to a lane change request. The method determines a target ramp entrance starting position, a target ramp entrance end position, a dashed-to-solid line switching position, and a dashed-to-solid line switching position based on the target vehicle's navigation information and map information. A lane change warning reference position is determined based on the positional relationship between the aforementioned position information and the target vehicle's position. A warning is issued if the longitudinal distance between the target vehicle's position and the warning reference position is less than or equal to a preset warning distance threshold. The method utilizes navigation information and map information to determine a warning reference position for lane change control, and determines a warning position based on the warning reference position to prompt the driver to take over driving based on the warning. This method addresses the issue of the driver being unable to promptly take over driving and thus unable to complete the off-ramp according to the navigation path when traffic conditions are complex or the vehicle computer fails to make a decision. Further advantageous effects include determining the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-to-solid line switching position, the dashed-to-solid line switching position, and the target vehicle's position, thereby reducing the amount of data required for determining the warning reference position and effectively lowering the computing power required for warning determination.

[0078] The following describes an embodiment of the device of the present application, which can be used to implement the vehicle lane change warning method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle lane change warning method in the above embodiment of the present application.

[0079] Figure 7 This is a schematic diagram of a vehicle lane change warning device shown in an exemplary embodiment of the present application. The device can be applied to Figure 2 The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0080] like Figure 7 As shown, the exemplary vehicle lane change warning device includes: a position information acquisition module 701 , a warning position determination module 702 , and a warning module 703 .

[0081] Among them, the position information acquisition module 701 is used to obtain the navigation information, map information, and target vehicle position of the target vehicle in response to the lane change request; determine the target ramp entrance starting position, target ramp entrance end position, dashed-solid line switching position, and real-dash line switching position based on the navigation information and map information of the target vehicle; the warning position determination module 702 is used to determine the lane change warning reference position based on the positional relationship between the target ramp entrance starting position, target ramp entrance end position, dashed-solid line switching position, real-dash line switching position and the target vehicle position; the warning module 703 is used to generate lane change warning content if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold, and issue a warning based on the lane change warning content.

[0082] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the vehicle lane change warning method provided in the above-mentioned embodiments.

[0083] Figure 8 This is a schematic diagram of the structure of a computer system of an electronic device according to an exemplary embodiment of the present application. Figure 8 The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0084] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage portion into the random access memory (RAM) 803, such as the method for executing the above embodiment. In RAM 803, various programs and data required for system operation are also stored. CPU 801, ROM 802 and RAM 803 are connected to each other via a bus. Input / output (I / O) interface 805 is also connected to bus 804.

[0085] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including a hard disk; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 805 as needed. Removable media 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed in the drive 810 as needed so that computer programs read therefrom can be installed into the storage section 808 as needed.

[0086] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the various functions defined in the system of the present application are executed.

[0087] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0088] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0089] In the corresponding drawings of the above embodiments, connecting lines can represent the connection relationship between various components to represent more constituent signal paths (constituent_signalpath) and / or one or more ends of some lines have arrows to indicate the main information flow direction. The connecting lines are used as an identifier, not a limitation of the scheme itself, but the use of these lines in combination with one or more exemplary embodiments helps to connect circuits or logic units more easily. Any represented signal (determined by design requirements or preferences) can actually include one or more signals that can be transmitted in any direction and can be implemented with any appropriate type of signal scheme.

[0090] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0091] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device.

[0092] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0093] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.

[0094] It should be noted that the present application can be used in a wide variety of general-purpose or special-purpose computing system environments or configurations, such as personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above, and the like.

[0095] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0096] It should be understood that the above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. Ordinary technicians in this field can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application should be the scope of protection required by the claims.

Claims

1. A vehicle lane change warning method, characterized in that: The vehicle lane change warning method includes: In response to the lane change request, obtaining navigation information, map information, and a location of the target vehicle; Determining a target ramp entrance starting position, a target ramp entrance ending position, a dashed-solid line switching position, and a real-dashed line switching position based on navigation information and map information of the target vehicle; Determine the lane change warning reference position according to the positional relationship between the target ramp entrance starting position, the target ramp entrance end position, the dashed-solid line switching position, the real-dashed line switching position, and the target vehicle position, wherein, if the longitudinal distance from the target vehicle position to the real-dashed line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance end position, then compare the longitudinal distance from the target vehicle position to the dashed-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position; if the longitudinal distance from the target vehicle position to the dashed-solid line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then determine the dashed-solid line switching position as the lane change warning reference position; If the longitudinal distance from the target vehicle position to the switch position of the dashed-solid line is greater than the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, then the longitudinal distance from the target vehicle position to the switch position of the dashed-solid line is compared with the longitudinal distance from the target vehicle position to the end position of the target ramp entrance; if the longitudinal distance from the target vehicle position to the switch position of the dashed-solid line is less than the longitudinal distance from the target vehicle position to the end position of the target ramp entrance, then the switch position of the dashed-solid line is determined as the lane change warning reference position; If the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold, a lane change warning content is generated, and a warning is issued according to the lane change warning content.

2. The vehicle lane change warning method according to claim 1, characterized in that: After comparing the longitudinal distance between the target vehicle position and the position where the dashed-solid line switches with the longitudinal distance between the target vehicle position and the target ramp entrance end position, the vehicle lane change warning method further includes: If the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance end position, the target ramp entrance end position is determined as the lane change warning reference position.

3. The vehicle lane change warning method according to claim 1, characterized in that: Determining the lane change warning reference position according to the target ramp entrance starting position, the target ramp entrance end position, the dotted-solid line switching position, the real-dash line switching position, and the positional relationship of the target vehicle position includes: If the longitudinal distance from the target vehicle position to the switching position of the solid-dashed line is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance end position, and the longitudinal distance from the target vehicle position to the switching position of the solid-dashed line is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then compare the longitudinal distance from the target vehicle position to the switching position of the solid-dashed line with the longitudinal distance from the target vehicle position to the target ramp entrance starting position; If the longitudinal distance from the target vehicle position to the dotted-solid line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance starting position, the dotted-solid line switching position is determined as the lane change warning reference position.

4. The vehicle lane change warning method according to claim 3, characterized in that: After comparing the longitudinal distance from the target vehicle position to the position where the dashed-solid line switches with the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, the vehicle lane change warning method further includes at least one of the following: If the longitudinal distance from the target vehicle position to the switch position between the dashed and solid lines is less than or equal to the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, then the longitudinal distance from the switch position between the dashed and solid lines to the ending position of the target ramp entrance is determined; If the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is greater than or equal to the preset shortest lane change distance, the target ramp entrance end position is determined as the lane change warning reference position; or, If the longitudinal distance from the target vehicle position to the switch position between the dashed and solid lines is less than or equal to the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, then the longitudinal distance from the switch position between the dashed and solid lines to the ending position of the target ramp entrance is determined; If the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is less than the preset shortest lane change distance, the solid-dashed line switching position is determined as the lane change warning reference position.

5. The vehicle lane change warning method according to claim 1, characterized in that: Determining the lane change warning reference position according to the target ramp entrance starting position, the target ramp entrance end position, the dotted-solid line switching position, the real-dash line switching position, and the positional relationship of the target vehicle position includes: If the longitudinal distance from the target vehicle position to the solid-dashed line switching position is less than or equal to the longitudinal distance from the target vehicle position to the target ramp entrance starting position, then determine the longitudinal distance from the solid-dashed line switching position to the target ramp entrance ending position; If the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is greater than or equal to the preset shortest lane change distance, the target ramp entrance end position is determined as the lane change warning reference position.

6. The vehicle lane change warning method according to claim 5, characterized in that: After determining the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position, the vehicle lane change warning method further includes: If the longitudinal distance from the solid-dashed line switching position to the target ramp entrance end position is less than the preset shortest lane change distance, the solid-dashed line switching position is determined as the lane change warning reference position.

7. The vehicle lane change warning method according to claim 1, characterized in that: Determining a target ramp entrance starting position, a target ramp entrance ending position, a dashed-solid line switching position, and a real-dashed line switching position according to the navigation information and map information of the target vehicle includes: Determining the presence of a target ramp within a preset detection distance range for the target vehicle based on the navigation information; If the target ramp exists within the preset detection distance range, the road connection parameters between the target vehicle's current driving road and the target ramp are determined based on the road connection relationship in the map information. The road connection parameters include the starting position and the end position of the target ramp entrance.

8. A vehicle lane change warning device, characterized in that: The vehicle lane change warning device includes: a position information acquisition module for acquiring navigation information, map information, and the position of the target vehicle in response to a lane change request; and determining the target ramp entrance starting position, the target ramp entrance ending position, the dashed-solid line switching position, and the real-dashed line switching position based on the navigation information and map information of the target vehicle; The warning position determination module is used to determine the lane change warning reference position according to the target ramp entrance starting position, the target ramp entrance end position, the dotted-solid line switching position, the positional relationship between the real and dotted line switching position and the target vehicle position, wherein, if the longitudinal distance from the target vehicle position to the real and dotted line switching position is greater than the longitudinal distance from the target vehicle position to the target ramp entrance end position, then compare the longitudinal distance from the target vehicle position to the dotted-solid line switching position with the longitudinal distance from the target vehicle position to the target ramp entrance starting position; if the longitudinal distance from the target vehicle position to the dotted-solid line switching position is less than or equal to the target vehicle ... If the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance is greater than the longitudinal distance from the target vehicle position to the starting position of the target ramp entrance, the longitudinal distance from the target vehicle position to the switching position of the dotted and solid lines is compared with the longitudinal distance from the target vehicle position to the end position of the target ramp entrance; if the longitudinal distance from the target vehicle position to the switching position of the dotted and solid lines is less than the longitudinal distance from the target vehicle position to the end position of the target ramp entrance, the switching position of the dotted and solid lines is determined as the lane change warning reference position; The warning module is configured to generate lane change warning content and issue a warning according to the lane change warning content if the longitudinal distance between the target vehicle position and the warning reference position is less than or equal to a preset warning distance threshold.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the vehicle lane change warning method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is caused to execute the vehicle lane change warning method according to any one of claims 1 to 7.

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