A vehicle lane change assist interaction method, system, device and storage medium

Abstract

This invention discloses a vehicle lane change assistance interaction method, system, device, and storage medium, comprising: responding to a lane change assistance interaction request from the driver of the current vehicle, determining a target lane change lane; acquiring first image information of the target lane change lane, and determining a plurality of target vehicles based on the first image information; acquiring the driver's lane change request information and displaying the lane change request information through the window of the current vehicle approaching the target lane change lane; acquiring lane change feedback information displayed on the window of the target vehicle, and reminding the driver to perform the corresponding lane change operation based on the lane change feedback information. This invention improves the efficiency and accuracy of information interaction between vehicles during lane changes, thereby improving the safety of vehicle lane changes, and can be widely applied in the field of vehicle control technology.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle lane change assist interaction method, system, device, and storage medium. Background Technology

[0002] When a vehicle needs to change lanes while driving, the driver typically uses the turn signal switch to signal other vehicles traveling in the same direction in the target lane before making the lane change. However, this method has the following drawbacks:

[0003] 1) Drivers of other vehicles need to constantly pay attention to whether surrounding vehicles have turned on their turn signals, which increases the driver's burden and reduces efficiency;

[0004] 2) The lack of communication and interaction with drivers of other vehicles, with only a unilateral lane change signal, makes it impossible to accurately convey the reason for the lane change or to know whether other drivers have accepted the lane change request. This can easily lead to traffic accidents and pose certain safety hazards. Summary of the Invention

[0005] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0006] Therefore, one objective of this invention is to provide a vehicle lane change assist interaction method that improves the efficiency and accuracy of information exchange between vehicles during lane changes, thereby improving the safety of vehicle lane changes.

[0007] Another objective of this invention is to provide a vehicle lane change assist interactive system.

[0008] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include:

[0009] In a first aspect, embodiments of the present invention provide a vehicle lane change assistance interaction method, comprising the following steps:

[0010] In response to the driver's lane change assistance interaction request of the current vehicle, determine the target lane for lane change;

[0011] Acquire first image information of the target lane change lane, and determine several target vehicles based on the first image information;

[0012] Obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane;

[0013] Obtain lane change feedback information displayed on the window of the target vehicle, and remind the driver to perform the corresponding lane change operation based on the lane change feedback information.

[0014] Furthermore, in one embodiment of the present invention, the step of determining the target lane change lane in response to the current vehicle's lane change assistance interaction request specifically includes:

[0015] The lane change assistance interaction request is generated based on the first operation information of the driver of the current vehicle, wherein the first operation information includes at least one of the first button information, first voice information, and first gesture information;

[0016] Determine the target lane change direction based on the lane change assistance interaction request;

[0017] Obtain the current lane where the vehicle is currently located, and determine the target lane change lane based on the current lane and the target lane change direction.

[0018] Furthermore, in one embodiment of the present invention, the step of acquiring first image information of the target lane change lane and determining a plurality of target vehicles based on the first image information specifically includes:

[0019] The first image information of the target lane change lane is acquired by a camera device, which is located on the side of the current vehicle closest to the target lane change lane;

[0020] The first image information is input into a pre-trained vehicle detection model to obtain the vehicle detection result;

[0021] Based on the vehicle detection results, several target vehicles are identified in the first image information.

[0022] Furthermore, in one embodiment of the present invention, the vehicle lane change assist interaction method further includes a step of pre-training the vehicle detection model, which specifically includes:

[0023] Acquire multiple preset lane object sample images and determine the label information of each lane object sample image, wherein the lane object sample images include vehicle sample images;

[0024] A training dataset is constructed based on the lane object sample images and the corresponding label information;

[0025] The training dataset is input into a pre-built convolutional neural network for training to obtain the trained vehicle detection model.

[0026] Furthermore, in one embodiment of the present invention, the step of inputting the training dataset into a pre-built convolutional neural network for training to obtain the trained vehicle detection model specifically includes:

[0027] The training dataset is input into the convolutional neural network to obtain the lane object recognition result;

[0028] The loss value of the convolutional neural network is determined based on the lane object recognition result and the label information;

[0029] The model parameters of the convolutional neural network are updated using the backpropagation algorithm based on the loss value, and the process of inputting the training dataset into the convolutional neural network is returned.

[0030] When the loss value reaches a preset first threshold or the number of iterations reaches a preset second threshold, training stops, and a trained vehicle detection model is obtained.

[0031] Furthermore, in one embodiment of the present invention, the step of obtaining the driver's lane change request information and displaying the lane change request information through the window of the current vehicle approaching the target lane change lane specifically includes:

[0032] Obtain the driver's second voice information, and perform voice recognition on the second voice information to obtain the lane change request information;

[0033] The orientation information of the target vehicle relative to the current vehicle is determined based on the first image information;

[0034] The vehicle window to be displayed is determined based on the orientation information. The vehicle window to be displayed includes at least one of the following: left side window, right side window, left side area of ​​windshield, right side area of ​​windshield, left side area of ​​rear window, and right side area of ​​rear window that is close to the target lane change lane.

[0035] The lane change request information is displayed through the window of the vehicle to be displayed.

[0036] Furthermore, in one embodiment of the present invention, the step of obtaining lane change feedback information displayed on the window of the target vehicle and reminding the driver to perform corresponding lane change operations based on the lane change feedback information further includes:

[0037] The second image information of the target vehicle's window is obtained by a camera device, and the lane change feedback information is obtained by performing text recognition and detection on the second image information.

[0038] Based on the lane change feedback information, a corresponding voice prompt is generated, and the driver is reminded to perform the corresponding lane change operation through the voice prompt.

[0039] Secondly, embodiments of the present invention provide a vehicle lane change assistance interactive system, comprising:

[0040] The target lane determination module is used to determine the target lane in response to the driver's lane change assistance interaction request of the current vehicle.

[0041] The target vehicle determination module is used to acquire first image information of the target lane change lane and determine several target vehicles based on the first image information.

[0042] The lane change request display module is used to obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane;

[0043] The lane change reminder module is used to obtain lane change feedback information displayed on the window of the target vehicle, and remind the driver to perform the corresponding lane change operation based on the lane change feedback information.

[0044] Thirdly, embodiments of the present invention provide a vehicle lane change assist interactive device, comprising:

[0045] At least one processor;

[0046] At least one memory for storing at least one program;

[0047] When the at least one program is executed by the at least one processor, the at least one processor implements the above-described vehicle lane change assistance interaction method.

[0048] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the aforementioned vehicle lane change assist interaction method.

[0049] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention:

[0050] In response to a lane change assistance request from the driver of the current vehicle, this embodiment of the invention determines the target lane, acquires first image information of the target lane, identifies several target vehicles based on the first image information, acquires the driver's lane change request information, and displays the lane change request information through the window of the current vehicle near the target lane. It then acquires lane change feedback information displayed on the windows of the target vehicles and prompts the driver to perform the corresponding lane change operation based on the feedback information. This embodiment of the invention, by displaying lane change request information and feedback information through vehicle windows, enables information interaction between the current vehicle and the target vehicle during lane changes, improving the efficiency and accuracy of information interaction between vehicles, thereby enhancing the safety of lane changes. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A flowchart illustrating the steps of a vehicle lane change assist interaction method provided in an embodiment of the present invention;

[0053] Figure 2 A structural block diagram of a vehicle lane change assist interactive system provided in an embodiment of the present invention;

[0054] Figure 3 This is a structural block diagram of a vehicle lane change assist interaction device provided in an embodiment of the present invention. Detailed Implementation

[0055] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0056] In the description of this invention, "multiple" means two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art.

[0057] Reference Figure 1 This invention provides a vehicle lane change assistance interaction method, which specifically includes the following steps:

[0058] S101. In response to the lane change assistance interaction request from the driver of the current vehicle, determine the target lane change lane.

[0059] Specifically, when the driver of the current vehicle needs to change lanes, he can first issue a lane change assistance interaction request through relevant operations. The lane change assistance interaction request includes the direction (left or right) that the current vehicle wants to change lanes. Based on the lane change assistance interaction request, the target lane can be determined.

[0060] As a further optional implementation, the step of determining the target lane change lane in response to the current vehicle's lane change assistance interaction request specifically includes:

[0061] S1011. Generate a lane change assistance interaction request based on the driver's first operation information of the current vehicle. The first operation information includes at least one of first button information, first voice information, and first gesture information.

[0062] S1012. Determine the target lane change direction based on the lane change assistance interaction request;

[0063] S1013. Obtain the current lane where the vehicle is currently located, and determine the target lane change lane based on the current lane and the target lane change direction.

[0064] Specifically, drivers can issue lane change assistance interaction requests through button operations (such as pressing the left lane change button), voice commands (such as "change lane to the left"), or gesture commands (such as waving their hand to the left). When the vehicle detects the driver's corresponding operation, it will generate a corresponding lane change assistance interaction request. Based on the lane change assistance interaction request, the direction in which the driver wants to change lanes, i.e., left or right, is determined. Then, combined with the current lane where the vehicle is currently located, the adjacent lane in the direction of the target lane change can be determined as the target lane change lane.

[0065] S102. Obtain the first image information of the target lane and determine several target vehicles based on the first image information.

[0066] Specifically, after determining the target lane, the first image information of the target lane can be obtained through the camera device at the corresponding position on the current vehicle. The target vehicle in the target lane can be identified and detected based on the first image information. The target vehicle is the vehicle that the current vehicle needs to exchange lane change information with.

[0067] As a further optional implementation, the step of acquiring first image information of the target lane and determining several target vehicles based on the first image information specifically includes:

[0068] S1021. Acquire first image information of the target lane change lane through a camera device, wherein the camera device is set on the side of the current vehicle closest to the target lane change lane;

[0069] S1022. Input the first image information into the pre-trained vehicle detection model to obtain the vehicle detection result;

[0070] S1023. Based on the vehicle detection results, identify several target vehicles in the first image information.

[0071] Specifically, in this embodiment of the invention, a camera device is installed on the side of the current vehicle closest to the target lane to acquire the first image information of the target lane to change lanes. It can be understood that in this embodiment of the invention, camera devices are installed on both sides of the current vehicle. After the target lane to change lane is determined, only the camera device on the corresponding side can be activated for image acquisition and subsequent recognition processing, which reduces the computing power burden of the system and improves efficiency.

[0072] The vehicle detection model in this embodiment of the invention is trained by a convolutional neural network. By inputting the first image information into the vehicle detection model, the corresponding vehicle detection result can be obtained, thereby identifying several target vehicles in the first image information.

[0073] As an optional implementation, the vehicle lane change assistance interaction method further includes a step of pre-training a vehicle detection model, which specifically includes:

[0074] A1. Obtain multiple preset lane object sample images and determine the label information of each lane object sample image. The lane object sample images include vehicle sample images.

[0075] A2. Construct a training dataset based on lane object sample images and corresponding label information;

[0076] A3. Input the training dataset into the pre-built convolutional neural network for training to obtain a trained vehicle detection model.

[0077] Specifically, when constructing the training dataset, multiple sample images of different types of lane objects are obtained, such as vehicles, signs, and non-motorized vehicles. There should also be multiple sample images of each type of lane object. The label information of each lane object sample image is determined according to the corresponding object type.

[0078] As an optional implementation, the step of inputting the training dataset into a pre-built convolutional neural network for training to obtain a trained vehicle detection model specifically includes:

[0079] A31. Input the training dataset into the convolutional neural network to obtain the lane object recognition result;

[0080] A32. Determine the loss value of the convolutional neural network based on the lane object recognition results and label information;

[0081] A33. Update the model parameters of the convolutional neural network using the backpropagation algorithm based on the loss value, and return to the step of inputting the training dataset into the convolutional neural network;

[0082] A34. When the loss value reaches the preset first threshold or the number of iterations reaches the preset second threshold, training is stopped, and the trained vehicle detection model is obtained.

[0083] Specifically, after inputting the data from the training dataset into the initialized convolutional neural network model, the model outputs the recognition results, namely the lane object recognition results. The accuracy of the model's predictions can be evaluated based on these lane object recognition results and the aforementioned label information, thereby updating the model's parameters. For vehicle detection models, the accuracy of the model's recognition results can be measured by a loss function. The loss function is defined on a single training data point and measures the prediction error of that data point. Specifically, the loss value of that training data point is determined by its label and the model's prediction result for that data point. However, in actual training, a training dataset contains many data points. Therefore, a cost function is generally used to measure the overall error of the training dataset. The cost function is defined on the entire training dataset and calculates the average prediction error of all training data points, providing a better measure of the model's prediction performance. For general machine learning models, the aforementioned cost function, plus a regularization term to measure model complexity, can serve as the training objective function. Based on this objective function, the loss value of the entire training dataset can be calculated. There are many commonly used loss functions, such as 0-1 loss, squared loss, absolute loss, logarithmic loss, and cross-entropy loss, all of which can be used as loss functions for machine learning models. These will not be elaborated upon here. In this embodiment of the invention, any one of these loss functions can be selected to determine the training loss value. Based on the training loss value, the backpropagation algorithm is used to update the model parameters. After several iterations, a trained vehicle detection model can be obtained. Specifically, the number of iterations can be preset, or training can be considered complete when the accuracy requirement on the test set is met.

[0084] S103. Obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane.

[0085] Specifically, after determining that a target vehicle exists in the target lane and identifying the target vehicle, the driver's lane change request information is obtained by recognizing the voice, and then displayed through the window of the current vehicle that is close to the target lane.

[0086] As a further optional implementation, the step of obtaining the driver's lane change request information and displaying the lane change request information through the window of the current vehicle approaching the target lane change lane specifically includes:

[0087] S1031. Obtain the driver's second voice information, and perform voice recognition on the second voice information to obtain lane change request information;

[0088] S1032. Determine the orientation information of the target vehicle relative to the current vehicle based on the first image information;

[0089] S1033. Determine the vehicle window to be displayed based on the orientation information. The vehicle window to be displayed includes at least one of the following: the left window, the right window, the left area of ​​the windshield, the right area of ​​the windshield, the left area of ​​the rear window, and the right area of ​​the rear window that is close to the target lane change lane.

[0090] S1034. Display lane change request information through the window of the vehicle to be displayed.

[0091] Specifically, drivers can directly state the reason for requesting a lane change and related polite phrases, such as "Going to the hospital for medical treatment, I need to change lanes, please help, thank you!" The corresponding text information is obtained through voice recognition. In addition, matching emoji images can be added based on emotion recognition, making it easier for the driver of the target vehicle to accept the current vehicle's lane change request.

[0092] Based on the position of the target vehicle in the first image information, the relative position of the target vehicle to the current vehicle can be determined. For example, taking the left side as the target lane change direction, when the target vehicle is detected in the right area of ​​the first image information, it means that the target vehicle is in front of the current vehicle on the left. At this time, the lane change request text can be displayed through the left window and the left area of ​​the windshield (occupying a small area and not affecting the driver's line of sight). When the target vehicle is detected in the left area of ​​the first image, it means that the target vehicle is behind the current vehicle on the left. At this time, the lane change request text can be displayed through the left window and the left area of ​​the rear window.

[0093] S104. Obtain lane change feedback information displayed on the window of the target vehicle, and remind the driver to perform the corresponding lane change operation based on the lane change feedback information.

[0094] Specifically, the driver of the target vehicle can directly observe the lane change request information displayed on the window of the current vehicle, or the lane change request information can be obtained through image acquisition and text recognition by the camera device on the target vehicle and broadcast to the driver of the target vehicle. After the driver of the target vehicle receives the lane change request information, they can issue a lane change feedback message via voice. This message can also be converted into corresponding text through voice recognition and then displayed on the window of the vehicle closest to the target vehicle. Upon receiving the lane change feedback message, the driver of the current vehicle can then be reminded to perform the corresponding lane change operation.

[0095] As a further optional implementation, the step of obtaining lane change feedback information displayed on the target vehicle's window and reminding the driver to perform corresponding lane change operations based on the lane change feedback information also includes:

[0096] S1041. Obtain second image information of the target vehicle's window through a camera device, and perform text recognition and detection on the second image information to obtain lane change feedback information;

[0097] S1042. Generate corresponding voice prompts based on lane change feedback information, and remind the driver to perform the corresponding lane change operation through the voice prompts.

[0098] Specifically, a second image of the target vehicle's window is acquired through a camera device, thereby identifying the driver's lane-change feedback. If the feedback indicates that lane changing is permitted, a corresponding voice prompt message can be generated, such as "The target vehicle has been permitted to change lanes; please complete the lane change operation as soon as possible." If the feedback indicates that lane changing is not permitted, a corresponding voice prompt message can be generated, such as "The target vehicle is not permitted to change lanes due to special circumstances; please slow down and then search for another target vehicle to initiate a lane change request." Based on the voice prompt message, the driver can perform the corresponding operation to complete the lane change or postpone the lane change.

[0099] In some optional embodiments, after completing the lane change, the current vehicle can also express its gratitude to the target vehicle that allowed it to change lanes and cut in through the rear window.

[0100] The method steps of the embodiments of the present invention have been described above. It is understood that by displaying lane change request information and lane change feedback information through the vehicle window, the embodiments of the present invention can realize information interaction between the current vehicle and the target vehicle during lane changes, improving the efficiency and accuracy of information interaction between vehicles during lane changes, thereby improving the safety of lane changes.

[0101] Reference Figure 2 This invention provides a vehicle lane change assist interactive system, comprising:

[0102] The target lane determination module is used to determine the target lane in response to the driver's lane change assistance interaction request of the current vehicle.

[0103] The target vehicle determination module is used to acquire first image information of the target lane and determine several target vehicles based on the first image information.

[0104] The lane change request display module is used to obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane;

[0105] The lane change alert module is used to obtain lane change feedback information displayed on the windshield of the target vehicle and remind the driver to perform the corresponding lane change operation based on the lane change feedback information.

[0106] The content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0107] Reference Figure 3 This invention provides a vehicle lane change assist interactive device, comprising:

[0108] At least one processor;

[0109] At least one memory for storing at least one program;

[0110] When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned vehicle lane change assistance interaction method.

[0111] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0112] This invention also provides a computer-readable storage medium storing a processor-executable program that, when executed by a processor, performs the aforementioned vehicle lane change assist interaction method.

[0113] This invention provides a computer-readable storage medium that can execute a vehicle lane-changing assistance interaction method provided in the method embodiment of this invention. It can execute any combination of the implementation steps of the method embodiment and has the corresponding functions and beneficial effects of the method.

[0114] This invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform... Figure 1 The method shown.

[0115] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0116] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0117] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0118] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0119] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or, if necessary, processing in other suitable ways, and then stored in computer memory.

[0120] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0121] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0122] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0123] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A vehicle lane change assist interaction method, characterized in that, Includes the following steps: In response to the driver's lane change assistance interaction request of the current vehicle, determine the target lane for lane change; Acquire first image information of the target lane change lane, and determine several target vehicles based on the first image information; Obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane; Obtain lane change feedback information displayed on the window of the target vehicle, and remind the driver to perform the corresponding lane change operation based on the lane change feedback information; The step of determining the target lane change lane in response to the current vehicle's lane change assistance interaction request specifically includes: The lane change assistance interaction request is generated based on the first operation information of the driver of the current vehicle, wherein the first operation information includes at least one of the first button information, the first voice information, and the first gesture information; Determine the target lane change direction based on the lane change assistance interaction request; Obtain the current lane where the vehicle is currently located, and determine the target lane change lane based on the current lane and the target lane change direction.

2. The vehicle lane change assistance interaction method according to claim 1, characterized in that, The step of acquiring the first image information of the target lane change lane and determining several target vehicles based on the first image information specifically includes: The first image information of the target lane change lane is acquired by a camera device, which is located on the side of the current vehicle closest to the target lane change lane; The first image information is input into a pre-trained vehicle detection model to obtain the vehicle detection result; Based on the vehicle detection results, several target vehicles are identified in the first image information.

3. The vehicle lane change assistance interaction method according to claim 2, characterized in that, The vehicle lane change assistance interaction method also includes the step of pre-training the vehicle detection model, which specifically includes: Acquire multiple preset lane object sample images and determine the label information of each lane object sample image, wherein the lane object sample images include vehicle sample images; A training dataset is constructed based on the lane object sample images and the corresponding label information; The training dataset is input into a pre-built convolutional neural network for training to obtain the trained vehicle detection model.

4. The vehicle lane change assist interaction method according to claim 3, characterized in that, The step of inputting the training dataset into a pre-built convolutional neural network for training to obtain the trained vehicle detection model specifically includes: The training dataset is input into the convolutional neural network to obtain the lane object recognition result; The loss value of the convolutional neural network is determined based on the lane object recognition result and the label information; The model parameters of the convolutional neural network are updated using the backpropagation algorithm based on the loss value, and the process of inputting the training dataset into the convolutional neural network is returned. When the loss value reaches a preset first threshold or the number of iterations reaches a preset second threshold, training stops, and a trained vehicle detection model is obtained.

5. The vehicle lane change assistance interaction method according to claim 1, characterized in that, The step of obtaining the driver's lane change request information and displaying the lane change request information through the window of the current vehicle approaching the target lane change lane specifically includes: Obtain the driver's second voice information, and perform voice recognition on the second voice information to obtain the lane change request information; The orientation information of the target vehicle relative to the current vehicle is determined based on the first image information; The vehicle window to be displayed is determined based on the orientation information. The vehicle window to be displayed includes at least one of the following: left side window, right side window, left side area of ​​windshield, right side area of ​​windshield, left side area of ​​rear window, and right side area of ​​rear window that is close to the target lane change lane. The lane change request information is displayed through the window of the vehicle to be displayed.

6. A vehicle lane change assist interaction method according to any one of claims 1 to 5, characterized in that, The step of obtaining lane change feedback information displayed on the window of the target vehicle and reminding the driver to perform corresponding lane change operations based on the lane change feedback information further includes: The second image information of the target vehicle's window is obtained by a camera device, and the lane change feedback information is obtained by performing text recognition and detection on the second image information. Based on the lane change feedback information, a corresponding voice prompt is generated, and the driver is reminded to perform the corresponding lane change operation through the voice prompt.

7. A vehicle lane change assist interactive system, characterized in that, include: The target lane determination module is used to determine the target lane in response to the driver's lane change assistance interaction request of the current vehicle. The target vehicle determination module is used to acquire first image information of the target lane change lane and determine several target vehicles based on the first image information. The lane change request display module is used to obtain the driver's lane change request information and display the lane change request information through the window of the current vehicle that is close to the target lane change lane; The lane change reminder module is used to obtain lane change feedback information displayed on the window of the target vehicle, and remind the driver to perform the corresponding lane change operation based on the lane change feedback information; The target lane change determination module is specifically used for: The lane change assistance interaction request is generated based on the first operation information of the driver of the current vehicle, wherein the first operation information includes at least one of the first button information, the first voice information, and the first gesture information; Determine the target lane change direction based on the lane change assistance interaction request; Obtain the current lane where the vehicle is currently located, and determine the target lane change lane based on the current lane and the target lane change direction.

8. A vehicle lane change assist interactive device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a vehicle lane change assist interaction method as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a processor-executable program, characterized in that, The processor-executable program, when executed by the processor, is used to perform a vehicle lane change assist interaction method as described in any one of claims 1 to 6.

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