Vehicle lane-changing anti-collision method, device, equipment and storage medium

Abstract

The application provides a vehicle lane-changing anti-collision method, device, equipment and storage medium, wherein the method comprises the following steps: obtaining the longitudinal relative distance and relative speed of an obstacle vehicle and a vehicle to be changed lane relative to each obstacle vehicle on a target changed lane; calculating a predicted lane-changing time and a safe lane-changing time according to a preset longitudinal safe lane-changing distance, the longitudinal relative distance and the relative speed; comparing the predicted lane-changing time and the safe lane-changing time to determine whether the vehicle to be changed lane starts a lane-changing operation; if the lane-changing operation is started, real-time monitoring of the predicted lane-changing remaining time and the safe lane-changing remaining time is performed; comparing the predicted lane-changing remaining time and the safe lane-changing remaining time to determine a target longitudinal lane-changing speed of the vehicle to be changed lane, so that the vehicle to be changed lane continues to change lane according to the target longitudinal lane-changing speed. By real-time monitoring of the relative state between the vehicle to be changed lane and the obstacle vehicle, the lane-changing speed of the vehicle to be changed lane is changed in real time, and the collision with the obstacle vehicle is actively avoided.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, and in particular to a method, device, equipment and storage medium for avoiding collisions during vehicle lane changes. Background Technology

[0002] With the development of automotive intelligence, V2X (Vehicle to X) technology, vehicle platooning communication technology, vehicle-to-vehicle (V2X) and vehicle-to-infrastructure (V2I) technologies are also constantly evolving, laying the foundation for new directions in automotive technology development and achieving compatibility between manual driving and assisted driving. Consequently, vehicle safety is receiving increasing attention, and OEMs have undertaken extensive work and research to improve vehicle safety, from enhancing crashworthiness to collision protection technologies, achieving better protection for occupants of the vehicle itself, occupants of vehicles traveling in the same direction, occupants of vehicles traveling in the opposite direction, and pedestrians outside the vehicle.

[0003] In related technologies, automotive collision avoidance technology mainly uses driver assistance systems such as radar and cameras to detect obstacles around the vehicle in real time and issue corresponding safety warnings to the driver when there is a risk of collision. Chinese patent CN207328432U discloses a vehicle lane change assist system that determines whether there is a collision risk by using relative distance information, relative speed information, and vehicle speed information. When a collision risk exists, the system sends the collision risk information to a display to alert the driver that the current lane change is risky and collision avoidance is necessary. However, during the lane change process, the lane change assist system only issues an auxiliary warning and does not take any active protective actions. Therefore, it cannot effectively guarantee safe driving if the driver fails to avoid a collision in time. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] In view of the shortcomings of the prior art described above, the present invention discloses a method, device, equipment and storage medium for avoiding collisions during vehicle lane changes, which solves the technical problem in the related art that when the lane change assist system determines that there is a risk of collision, there is no corresponding active protection action, thus failing to effectively ensure the safe driving of the vehicle.

[0006] In a first aspect, this application provides a method for avoiding collisions during lane changes, the method comprising: acquiring the longitudinal relative distance and relative speed of obstacle vehicles in the target lane to which the vehicle to change lanes is to and the vehicle to change lanes relative to each obstacle vehicle; calculating the predicted lane change time and the safe lane change time of the vehicle to change lanes based on a preset safe lane change distance, the longitudinal relative distance, and the relative speed; comparing the predicted lane change time and the safe lane change time once to determine whether the vehicle to change lanes should initiate a lane change operation; if the lane change operation is initiated, monitoring the remaining predicted lane change time and the remaining safe lane change time in real time; and comparing the remaining predicted lane change time and the remaining safe lane change time a second time to determine the target longitudinal lane change speed of the vehicle to change lanes, so that the vehicle to change lanes continues to change lanes according to the target longitudinal lane change speed.

[0007] In one embodiment of the present invention, the step of calculating the predicted lane change time and safe lane change time of the vehicle to be changed lanes based on the preset longitudinal safe lane change distance, the longitudinal relative distance, and the relative speed includes: the longitudinal relative distance includes a first current longitudinal relative distance and a longitudinal historical relative distance; obtaining the current time corresponding to the first current longitudinal relative distance and the historical time corresponding to the longitudinal historical relative distance; calculating the relative speed between the vehicle to be changed lanes and each obstacle vehicle based on the first current longitudinal relative distance, the historical longitudinal relative distance, the current time, and the historical time; calculating the lane change time by combining the first current longitudinal relative distance and the relative speed; sorting the lane change times, taking the minimum lane change time as the predicted lane change time, and taking the obstacle vehicle corresponding to the minimum lane change time as the target obstacle vehicle; and calculating the safe lane change time by combining the preset longitudinal safe lane change distance and the relative speed corresponding to the target obstacle vehicle.

[0008] In one embodiment of the present invention, the step of designating the obstacle vehicle corresponding to the minimum lane change time as the target obstacle vehicle includes: the obstacle vehicle includes a first obstacle vehicle and a second obstacle vehicle; when the first obstacle vehicle and the second obstacle vehicle are respectively located before and after the vehicle to be laned, the first lane change time relative to the first obstacle vehicle and the second lane change time relative to the second obstacle vehicle are calculated; the first lane change time and the second lane change time are compared three times; if it is determined that the first lane change time is less than the second lane change time, then the first obstacle vehicle is designated as the target obstacle vehicle; if it is determined that the first lane change time is greater than the second lane change time, then the second obstacle vehicle is designated as the target obstacle vehicle; if it is determined that the first lane change time is equal to the second lane change time, then either the first obstacle vehicle or the second obstacle vehicle is designated as the target obstacle vehicle.

[0009] In one embodiment of the present invention, before determining whether the vehicle to be changed lanes should initiate a lane change operation, the method further includes: obtaining the current lateral relative distance between the vehicle to be changed lanes and the target obstacle vehicle; calculating the lateral safe lane change time of the vehicle to be changed lanes based on the current lateral relative distance and the relative speed corresponding to the target obstacle vehicle; comparing the predicted lane change time and the lateral safe lane change time four times; if it is determined that the predicted lane change time is greater than or equal to the lateral safe lane change time, then the lane change operation is not initiated; if it is determined that the predicted lane change time is less than the lateral safe lane change time, then judging whether the vehicle to be changed lanes should initiate a lane change operation based on the first comparison result.

[0010] In one embodiment of the present invention, determining whether the vehicle to be changed lanes initiates a lane change operation includes: if the predicted lane change time is greater than or equal to the safe lane change time, then the lane change operation is not initiated; if the predicted lane change time is less than the safe lane change time, then the lane change operation is initiated.

[0011] In one embodiment of the present invention, determining the target longitudinal lane change speed of the vehicle to be changed lanes includes: if it is determined that the predicted remaining lane change time is less than the safe remaining lane change time, then the current longitudinal lane change speed is taken as the target longitudinal lane change speed; if it is determined that the predicted remaining lane change time is greater than or equal to the safe remaining lane change time, then the sum of the current longitudinal lane change speed and the longitudinal change speed is calculated to obtain the target longitudinal lane change speed.

[0012] In one embodiment of the present invention, before calculating the sum of the current longitudinal lane change speed and the longitudinal change speed, the method further includes: obtaining a second current longitudinal relative distance between the vehicle to be changed and the target obstacle vehicle; and calculating the longitudinal change speed based on the second current longitudinal relative distance, the current longitudinal safe lane change distance, the predicted lane change time, and the safe lane change time.

[0013] In one embodiment of the present invention, before obtaining the longitudinal relative distance and relative speed of the obstacle vehicles in the target lane of the vehicle to be changed and the vehicle to be changed relative to each obstacle vehicle, the method further includes: receiving a steering signal sent by a steering system, the steering signal including a right steering signal and a left steering signal; if the steering signal is the right steering signal, then the target lane to be changed is determined to be the right first lane of the vehicle to be changed; if the steering signal is the left steering signal, then the target lane to be changed is determined to be the left first lane of the vehicle to be changed.

[0014] Secondly, this application provides a vehicle lane change collision avoidance device, the device comprising: an acquisition module, configured to acquire the longitudinal relative distance and relative speed of the vehicle to be changed relative to each obstacle vehicle in the target lane of the vehicle to be changed; a calculation module, configured to calculate the predicted lane change time and the safe lane change time of the vehicle to be changed based on a preset longitudinal safe lane change distance, the longitudinal relative distance, and the relative speed; a lane change operation determination module, configured to compare the predicted lane change time and the safe lane change time once to determine whether the vehicle to be changed should initiate a lane change operation; a monitoring module, configured to monitor the remaining predicted lane change time and the remaining safe lane change time in real time if the lane change operation is initiated; and a lane change speed determination module, configured to compare the remaining predicted lane change time and the remaining safe lane change time a second time to determine the target longitudinal lane change speed of the vehicle to be changed, so that the vehicle to be changed can continue to change lanes according to the target longitudinal lane change speed.

[0015] Thirdly, this application provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the vehicle lane change collision avoidance method described in the first aspect.

[0016] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer's processor, causes the computer to perform the vehicle lane change collision avoidance method described in the first aspect.

[0017] As described above, the vehicle lane change collision avoidance method, apparatus, device, and storage medium provided by the embodiments of the present invention have the following beneficial effects:

[0018] By calculating the relative state between the vehicle waiting to change lanes and the obstacle vehicle, the predicted lane change time and safe lane change time are calculated. Based on the predicted lane change time and safe lane change time, the system determines and controls whether the vehicle waiting to change lanes should perform the lane change operation to avoid collisions. During the lane change process, the system can monitor the relative state between the vehicle waiting to change lanes and the obstacle vehicle in real time to determine if there is a collision risk. If there is a collision risk, the system can actively avoid collisions with the obstacle vehicle by changing the lane change speed of the vehicle waiting to change lanes until the lane change is completed safely, thus ensuring the safe driving of the vehicle waiting to change lanes.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0021] Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle lane change collision avoidance device, as shown in an exemplary embodiment of this application.

[0022] Figure 2 This is a flowchart illustrating a vehicle lane change collision avoidance method in an exemplary embodiment of this application;

[0023] Figure 3 This is a schematic diagram illustrating a lane-changing action of a vehicle to be changed lanes, as shown in an exemplary embodiment of this application.

[0024] Figure 4 yes Figure 2 The flowchart of step S220 in the illustrated embodiment is shown in an exemplary embodiment.

[0025] Figure 5 This is a flowchart illustrating an exemplary embodiment of the present application, showing a method for determining whether to initiate a lane change operation;

[0026] Figure 6 This is a schematic diagram illustrating a vehicle lane-changing system as shown in an exemplary embodiment of this application;

[0027] Figure 7 This is a block diagram illustrating a vehicle lane change collision avoidance device in an exemplary embodiment of this application;

[0028] Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0029] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0031] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the 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 embodiments of the invention.

[0032] With the realization of compatibility between manual driving and assisted driving in automobiles, the development of automotive collision avoidance technology has received increasing attention, providing safety protection for occupants of the vehicle itself, occupants of vehicles traveling in the same direction, occupants of vehicles traveling in the opposite direction, and pedestrians outside the vehicle. Collision avoidance technology primarily prevents vehicle collisions by using assisted driving systems such as radar and cameras to detect obstacles around the vehicle in real time, issuing warnings or simultaneously taking braking or evasive action to avoid collisions. However, during lane changes, the collision avoidance system mainly uses information on the relative distance and speed between the vehicle and other vehicles in the changing lane, as well as the vehicle's own speed, to determine whether there is a collision risk. When a collision risk is detected, the system sends the collision risk information to the display to alert the driver that the lane change is risky and collision avoidance is necessary. Lane change assist systems only provide auxiliary warnings and do not have corresponding active protective actions. If the driver fails to take timely collision avoidance measures, the system cannot effectively guarantee safe driving.

[0033] Therefore, please see Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation environment of a vehicle lane change collision avoidance device, as shown in an exemplary embodiment of this application. Figure 1 As shown, the collision avoidance device 102 is embedded in the vehicle 101 to prevent collisions during lane changes. This device 102 includes, but is not limited to, vehicle infotainment systems and onboard computers. The collision avoidance device 102 acquires the relative state between the vehicle 101 and an obstacle vehicle, calculates the predicted lane change time and the safe lane change time, and then determines and controls whether the vehicle 101 should perform a lane change operation based on the predicted and safe lane change times to avoid collisions. Furthermore, during the lane change process, it can monitor the relative state between the vehicle 101 and the obstacle vehicle in real time to determine if there is a collision risk. If a collision risk exists, it actively avoids collisions with the obstacle vehicle by changing the lane change speed of the vehicle 101 until the lane change is safely completed, ensuring the safe driving of the vehicle 101 during lane changes.

[0034] Please see Figure 2 , Figure 2 This is a flowchart illustrating a vehicle lane-changing collision avoidance method according to an exemplary embodiment of this application. This method can be applied to... Figure 1 The implementation environment is shown, and the method is specifically executed by the association resolution module within that implementation environment. It should be understood that this method can also be applied to other exemplary implementation environments and executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which this method is applicable.

[0035] like Figure 2 As shown, in an exemplary embodiment, the vehicle lane change collision avoidance method includes at least steps S210 to S250, which are described in detail below:

[0036] Step S210: Obtain the longitudinal relative distance and relative speed of the obstacle vehicles in the target lane to be changed by the vehicle to be changed, and the vehicle to be changed relative to each obstacle vehicle.

[0037] The target lane is the lane the vehicle intends to change to; the obstacle vehicle is a vehicle within a certain distance of the vehicle intending to change lanes, and determines whether the vehicle intending to change lanes will perform a lane change operation and the speed at which it will do so. Please see below. Figure 3 , Figure 3 This is a schematic diagram illustrating a lane-changing action of a vehicle to be changed lanes, as shown in an exemplary embodiment of this application. Figure 3 As shown, assuming the vehicles in the left lane are waiting to change lanes (marked with small dots), and the middle lane is the target lane for changing lanes, then the two vehicles in the middle lane are obstructing vehicles. Vehicle 3 in the rightmost lane is not in the target lane for changing lanes, so it is not considered an obstructing vehicle. Where L... x1 and L x2 L represents the longitudinal relative distance between the vehicle waiting to change lanes and obstacle vehicle 1 and obstacle vehicle 2, respectively. y1 and L y2 These represent the lateral relative distances between the vehicle waiting to change lanes and obstacle vehicle 1 and obstacle vehicle 2, respectively.

[0038] In one embodiment, before obtaining the longitudinal relative distance and relative speed of the obstacle vehicles in the target lane of the vehicle to be changed and the vehicle to be changed relative to each obstacle vehicle, the method further includes: receiving a steering signal sent by a steering system, the steering signal including a right steering signal and a left steering signal; if the steering signal is a right steering signal, then determining that the target lane to be changed is the right first lane of the vehicle to be changed; if the steering signal is a left steering signal, then determining that the target lane to be changed is the left first lane of the vehicle to be changed.

[0039] It should be noted that when a driver needs to change lanes, they will activate the turn signal switch, and the turn signal will be illuminated. At this time, the steering system will respond to the illumination of the turn signal, generate a turn signal, and send it to the vehicle lane change collision avoidance device so that the vehicle lane change collision avoidance device can determine the target lane to change to based on the turn signal.

[0040] Step S220: Calculate the predicted lane change time and safe lane change time of the vehicle to be changed lanes based on the preset longitudinal safe lane change distance, longitudinal relative distance and relative speed.

[0041] The preset longitudinal safe lane-change distance is the distance that ensures the vehicle waiting to change lanes can complete the lane change safely without colliding with an obstacle vehicle. It should be noted that the preset longitudinal safe lane-change distance will vary depending on the road type and the current speed of the vehicle waiting to change lanes. The preset longitudinal safe lane-change distance can be obtained by looking up the preset longitudinal safe lane-change distance table based on the road type and current speed of the vehicle waiting to change lanes. The road type can be obtained from the navigation system; there are no restrictions on how the road type is obtained here. The predicted lane-change time is the time it will take for the vehicle waiting to change lanes to complete the lane change based on the longitudinal relative distance and relative speed with the obstacle vehicle. The safe lane-change time is the shortest time based on the relative speed between the vehicle waiting to change lanes and the obstacle vehicle, as well as the longitudinal safe lane-change distance, to ensure that the vehicle waiting to change lanes will not collide with the obstacle vehicle.

[0042] Please see Figure 4 , Figure 4 yes Figure 2 The flowchart of step S220 in the illustrated embodiment, in an exemplary embodiment, calculates the predicted lane change time and safe lane change time of the vehicle to be laned based on a preset longitudinal safe lane change distance, longitudinal relative distance, and relative speed. It includes at least steps S410 to S450, as follows: Step S410: The longitudinal relative distance includes a first current longitudinal relative distance and a longitudinal historical relative distance; the current time corresponding to the first current longitudinal relative distance and the historical time corresponding to the longitudinal historical relative distance are obtained. Step S420: The relative speed between the vehicle to be laned and each obstacle vehicle is calculated based on the first current longitudinal relative distance, the historical longitudinal relative distance, the current time, and the historical time. Step S430: The first current longitudinal relative distance and the relative speed are calculated to obtain the lane change time. Step S440: The lane change times are sorted, the minimum lane change time is used as the predicted lane change time, and the obstacle vehicle corresponding to the minimum lane change time is used as the target obstacle vehicle. Step S450: The preset longitudinal safe lane change distance and the relative speed corresponding to the target obstacle vehicle are calculated to obtain the safe lane change time.

[0043] In this embodiment, the formula for calculating relative velocity is: Where n represents the number of vehicles obstructing traffic, V n Let L represent the relative speed of the vehicle waiting to change lanes relative to the nth obstacle vehicle, L represent the relative distance of the vehicle waiting to change lanes relative to the nth obstacle vehicle, X represent the longitudinal direction, N represent the current direction, M represent the historical direction, T represent the time, and L represent the distance between the two vehicles. XN L represents the first current vertical relative distance. XM T represents the relative distance over time in history. N T represents the current time. M To indicate historical time, it should be noted that T N and T M This represents two consecutive time intervals. The formula for calculating lane change time is: Where n represents the number of vehicles obstructing traffic, and T n L represents the lane-changing time of the vehicle waiting to change lanes relative to the nth obstacle vehicle. XN V represents the first current vertical relative distance. n This represents the relative speed of the vehicle to be changed lanes with respect to the nth obstacle vehicle. After obtaining the lane-changing time between the vehicle to be changed lanes and each obstacle vehicle, T is... n The minimum lane change time is used as the predicted lane change time, and the obstacle vehicle corresponding to the minimum lane change time is used as the target obstacle vehicle. The formula for calculating the safe lane change time is: Where t represents the safe lane change time, L0 represents the preset longitudinal safe lane change distance, and V n Let V represent the relative speed of the vehicle waiting to change lanes relative to the nth obstacle vehicle. It should be noted that because V... n The safe lane-changing time differs between vehicles waiting to change lanes and vehicles facing different obstacles.

[0044] Specifically, in one embodiment, the obstacle vehicle corresponding to the minimum lane change time is designated as the target obstacle vehicle. This includes: the obstacle vehicle includes a first obstacle vehicle and a second obstacle vehicle; when the first obstacle vehicle and the second obstacle vehicle are located before and after the vehicle to be changed lanes, respectively, the first lane change time relative to the first obstacle vehicle and the second lane change time relative to the second obstacle vehicle are calculated; the first lane change time and the second lane change time are compared three times; if it is determined that the first lane change time is less than the second lane change time, the first obstacle vehicle is designated as the target obstacle vehicle; if it is determined that the first lane change time is greater than the second lane change time, the second obstacle vehicle is designated as the target obstacle vehicle; if it is determined that the first lane change time is equal to the second lane change time, either the first obstacle vehicle or the second obstacle vehicle is designated as the target obstacle vehicle.

[0045] Please continue reading Figure 3Assuming the vehicle in the left lane is the vehicle waiting to change lanes (marked with a small dot), and the middle lane is the target lane for the lane change, then the two vehicles in the middle lane are considered obstacles: the first obstacle vehicle (obstacle vehicle 1) and the second obstacle vehicle (obstacle vehicle 2). It should be understood that when the vehicle waiting to change lanes does so, vehicles in front of and behind the target lane-changing vehicle relative to the vehicle waiting to change lanes are considered as obstacles. When the first obstacle vehicle and the second obstacle vehicle are located before and after the vehicle waiting to change lanes, respectively, it is necessary to calculate the first lane-changing time of the vehicle waiting to change lanes relative to the first obstacle vehicle and the second lane-changing time relative to the second obstacle vehicle, and then compare the first and second lane-changing times. The first lane-changing time... Second lane change time L X1 L represents the current longitudinal relative distance between the vehicle waiting to change lanes and the first obstacle vehicle. X2 The relative longitudinal distance between the vehicle to be changed lanes and the second obstacle vehicle is represented by T1, and the relative speeds of the vehicle to be changed lanes and the first obstacle vehicle are represented by T2. Then, T1 and T2 are compared, and the obstacle vehicle with the smaller value is designated as the target obstacle vehicle. It should also be noted that if the first obstacle vehicle is designated as the target obstacle vehicle, the vehicle to be changed lanes must move in front of the first obstacle vehicle; if the second obstacle vehicle is designated as the target obstacle vehicle, the vehicle to be changed lanes must move in front of the second obstacle vehicle and behind the first obstacle vehicle.

[0046] Step S230: Compare the predicted lane change time and the safe lane change time to determine whether the vehicle to be changed lanes should initiate the lane change operation.

[0047] Specifically, in one embodiment, determining whether a vehicle to be changed lanes should initiate a lane change operation includes: if the predicted lane change time is greater than or equal to the safe lane change time, then the lane change operation is not initiated; if the predicted lane change time is less than the safe lane change time, then the lane change operation is initiated.

[0048] It should be understood that when the predicted lane change time of the vehicle waiting to change lanes is greater than or equal to the safe lane change time, there is a risk of collision with the obstacle vehicle if the vehicle starts to change lanes. Therefore, in this embodiment, the predicted lane change time and the safe lane change time are compared. When the predicted lane change time is greater than or equal to the safe lane change time, the lane change operation is not initiated. When the predicted lane change time is less than the safe lane change time, the lane change operation is initiated to ensure the safe driving of the vehicle.

[0049] Please see Figure 5 , Figure 5This is an exemplary embodiment of the present application illustrating a flowchart for determining whether to initiate a lane change operation. Before determining whether the vehicle to be changed should initiate a lane change operation, the flowchart includes at least steps S510 to S550, as follows: Step S510, obtaining the current lateral relative distance between the vehicle to be changed and the target obstacle vehicle; Step S520, calculating the lateral safe lane change time of the vehicle to be changed based on the current lateral relative distance and the relative speed corresponding to the target obstacle vehicle; Step S530, comparing the predicted lane change time and the lateral safe lane change time four times; Step S540, if it is determined that the predicted lane change time is greater than or equal to the lateral safe lane change time, then the lane change operation is not initiated; Step S550, if it is determined that the predicted lane change time is less than the lateral safe lane change time, then determining whether the vehicle to be changed should initiate a lane change operation based on the first comparison result. Further comparing the predicted lane change time and the lateral safe lane change time, and only after determining that the predicted lane change time is less than the lateral safe lane change time, can the vehicle to be changed initiate a lane change operation, which is more conducive to preventing the danger of collision between the vehicle to be changed and the target obstacle vehicle.

[0050] Step S240: If a lane change operation is initiated, the remaining time for the lane change and the remaining time for the safe lane change are monitored and predicted in real time.

[0051] It should be understood that the relative longitudinal distance and relative speed between the vehicle waiting to change lanes and the target obstacle vehicle are dynamically changing during the lane change process. The predicted remaining lane change time refers to the time required for the vehicle waiting to change lanes to complete the lane change relative to the target obstacle vehicle, obtained by dividing the remaining longitudinal relative distance by the current relative speed. The safe remaining lane change time refers to the safe lane change time relative to the target obstacle vehicle during the lane change process, obtained by dividing the remaining safe longitudinal distance by the current relative speed. To prevent collisions between the vehicle waiting to change lanes and the target obstacle vehicle during the lane change process, it is necessary to monitor the predicted remaining lane change time and the safe remaining lane change time of the vehicle waiting to change lanes in real time, so that the vehicle can adjust its lane change speed in a timely manner when there is a risk of collision.

[0052] Step S250: The predicted remaining time for lane change and the remaining time for safe lane change are compared a second time to determine the target longitudinal lane change speed of the vehicle to be changed, so that the vehicle to be changed can continue to change lanes according to the target longitudinal lane change speed.

[0053] Specifically, in one embodiment, determining the target longitudinal lane change speed of the vehicle to be changed lanes includes: if it is determined that the predicted remaining time for lane change is less than the safe remaining time for lane change, then the current longitudinal lane change speed is taken as the target longitudinal lane change speed; if it is determined that the predicted remaining time for lane change is greater than or equal to the safe remaining time for lane change, then the sum of the current longitudinal lane change speed and the longitudinal change speed is calculated to obtain the target longitudinal lane change speed.

[0054] Furthermore, in one embodiment, before calculating the sum of the current longitudinal lane change speed and the longitudinal change speed, it is also necessary to calculate the longitudinal change speed. First, the second current longitudinal relative distance between the vehicle to be changed and the target obstacle vehicle is obtained; then, the longitudinal change speed is calculated based on the second current longitudinal relative distance, the current longitudinal safe lane change distance, the predicted remaining lane change time, and the remaining safe lane change time.

[0055] In this embodiment, the formula for calculating the longitudinal change rate is: Among them, V variate L represents the longitudinal rate of change. x L1 represents the current longitudinal relative distance, and t represents the current longitudinal safe lane change distance. r T represents the remaining time for a safe lane change. r This indicates the predicted remaining time for the lane change. The formula for calculating the target longitudinal lane change speed is V = V0 + V variate Where V represents the target longitudinal lane change speed, V0 represents the current longitudinal lane change speed, and V variate This indicates the rate of change. The longitudinal rate of change can be positive or negative. The vehicle waiting to change lanes continues to change lanes based on the target longitudinal speed, which may involve accelerating or decelerating. During the lane-changing process, the vehicle's speed is adjusted in real-time to prevent collisions with the target obstacle and ensure the vehicle's safety.

[0056] In another embodiment of this application, when there are no vehicles in the target lane within a certain distance range, based on the vehicle to be changed, there is no risk of collision with the obstructing vehicle, and the collision avoidance device does not intervene in the lane change operation of the vehicle to be changed.

[0057] In another embodiment of this application, when there is only one obstructing vehicle in the target lane within a certain distance, taking the vehicle to be changed as a reference, this obstructing vehicle is the target obstructing vehicle. In this case, it is necessary to consider whether the vehicle to be changed should change lanes in front of or behind the target obstructing vehicle. Based on this situation, the direction of lane change can be determined based on the relative longitudinal distance between the vehicle to be changed and the target obstructing vehicle. As one possible embodiment, the current speed of the target obstructing vehicle can be compared with the current speed of the vehicle to be changed. When the current speed of the target obstructing vehicle is greater than or equal to the current speed of the vehicle to be changed, the vehicle to be changed can appropriately decelerate and change lanes behind the target obstructing vehicle. When the current speed of the target obstructing vehicle is less than the current speed of the vehicle to be changed, the vehicle to be changed can appropriately accelerate and change lanes in front of the target obstructing vehicle. Furthermore, during the lane change process, the lane change speed of the vehicle to be changed can also be adjusted according to the relative state of the vehicles, thereby preventing collisions.

[0058] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating a vehicle lane-changing system as shown in an exemplary embodiment of this application, such as... Figure 6 As shown, the vehicle lane-changing system includes at least an active lane-changing controller 610, a power steering system 620, and a power assist system 630. The active lane-changing controller determines whether the vehicle to be changing lanes is eligible for a lane-changing operation, and during the lane-changing process, plans the target longitudinal speed of the vehicle in real time. It then sends corresponding operation signals to the power steering system 620 and the power assist system 630, causing them to execute the corresponding operation commands. This controls whether the vehicle to be changing lanes does not change lanes or does so, and also controls the real-time lane-changing speed of the vehicle.

[0059] The vehicle lane change collision avoidance method provided in the above embodiments calculates the predicted lane change time and safe lane change time based on the relative state between the vehicle to be changed and the obstacle vehicle. It then judges and controls whether the vehicle to be changed should perform a lane change operation based on the predicted lane change time and the safe lane change time, thereby avoiding collisions caused by lane changes. Furthermore, during the lane change process, it can monitor the relative state between the vehicle to be changed and the obstacle vehicle in real time to determine whether there is a collision risk. If there is a collision risk, it actively avoids collisions with obstacle vehicles by changing the lane change speed of the vehicle to be changed until the lane change is safely completed, ensuring the safe driving of the vehicle to be changed.

[0060] Please see Figure 7 , Figure 7 This is a block diagram illustrating a vehicle lane change collision avoidance device according to an exemplary embodiment of this application. The device can be applied to... Figure 1 The implementation environment shown is specifically executed by the association resolution module within that implementation environment. It should be understood that this device can also be applied to other exemplary implementation environments and executed by devices in other implementation environments; this embodiment does not limit the implementation environment to which the method is applicable.

[0061] like Figure 7 As shown, in an exemplary embodiment, the vehicle lane change collision avoidance device includes at least an acquisition module 710, a calculation module 720, a lane change operation determination module 730, a monitoring module 740, and a lane change speed determination module 750, which are described in detail below:

[0062] The acquisition module 710 is used to acquire the obstacle vehicles in the target lane of the vehicle to be changed and the longitudinal relative distance and relative speed of the vehicle to be changed relative to each obstacle vehicle.

[0063] The calculation module 720 is used to calculate the predicted lane change time and safe lane change time of the vehicle to be changed lanes based on the preset longitudinal safe lane change distance, longitudinal relative distance and relative speed.

[0064] The lane change operation determination module 730 is used to compare the predicted lane change time and the safe lane change time to determine whether the vehicle to be changed lanes should initiate a lane change operation.

[0065] The monitoring module 740 is used to monitor and predict the remaining time of the lane change and the remaining time of the safe lane change in real time if a lane change operation is initiated.

[0066] The lane change speed determination module 750 is used to make a secondary comparison between the predicted remaining time of lane change and the remaining time of safe lane change to determine the target longitudinal lane change speed of the vehicle to be changed, so that the vehicle to be changed can continue to change lanes according to the target longitudinal lane change speed.

[0067] It should be noted that the vehicle lane change collision avoidance device provided in the above embodiments and the vehicle lane change collision avoidance method provided in the above embodiments belong to the same concept. The specific way of performing each step has been described in detail in the method embodiments, and will not be repeated here.

[0068] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Figure 8 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 8 The computer system 800 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0069] like Figure 8 As shown, the computer system 800 includes a Central Processing Unit (CPU) 801, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 802 or programs loaded from storage portion 808 into Random Access Memory (RAM) 803. The RAM 803 also stores various programs and data required for system operation. The CPU 801, ROM 802, and RAM 803 are interconnected via a bus 804. An Input / Output (I / O) interface 805 is also connected to the bus 804.

[0070] The following components are connected to I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 810 as needed so that computer programs read from it can be installed into storage section 808 as needed.

[0071] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by central processing unit (CPU) 801, it performs various functions defined in the system of this application.

[0072] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0073] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0074] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0075] The present invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the vehicle lane change collision avoidance method described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0076] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for avoiding collisions during vehicle lane changes, characterized in that, The method includes: Obtain the obstacle vehicles in the target lane of the vehicle to be changed from, and the longitudinal relative distance and relative speed of the vehicle to be changed from each obstacle vehicle; Based on the preset longitudinal safe lane change distance, the longitudinal relative distance, and the relative speed, the predicted lane change time and safe lane change time of the vehicle to be changed lanes are calculated. The predicted lane change time is compared with the safe lane change time to determine whether the vehicle to be changed lanes has initiated a lane change operation. If the lane change operation is initiated, the remaining time for the lane change and the remaining time for the safe lane change will be monitored and predicted in real time. The predicted remaining time for lane change and the safe remaining time for lane change are compared twice to determine the target longitudinal lane change speed of the vehicle to be changed, so that the vehicle to be changed can continue to change lanes according to the target longitudinal lane change speed. The step of calculating the predicted lane change time and safe lane change time of the vehicle to be changed lanes based on the preset longitudinal safe lane change distance, the longitudinal relative distance, and the relative speed includes: the longitudinal relative distance includes a first current longitudinal relative distance and a longitudinal historical relative distance; obtaining the current time corresponding to the first current longitudinal relative distance and the historical time corresponding to the longitudinal historical relative distance; calculating the relative speed between the vehicle to be changed lanes and each obstacle vehicle based on the first current longitudinal relative distance, the longitudinal historical relative distance, the current time, and the historical time; calculating the lane change time by combining the first current longitudinal relative distance and the relative speed; sorting the lane change times, taking the minimum lane change time as the predicted lane change time, and taking the obstacle vehicle corresponding to the minimum lane change time as the target obstacle vehicle; and calculating the safe lane change time by combining the preset longitudinal safe lane change distance and the relative speed corresponding to the target obstacle vehicle.

2. The vehicle lane change collision avoidance method according to claim 1, characterized in that, The step of designating the obstacle vehicle corresponding to the minimum lane change time as the target obstacle vehicle includes: The obstructing vehicle includes a first obstructing vehicle and a second obstructing vehicle. When the first obstructing vehicle and the second obstructing vehicle are respectively located in front of and behind the vehicle to be changed lanes, the first lane change time of the vehicle to be changed lanes relative to the first obstructing vehicle and the second lane change time relative to the second obstructing vehicle are calculated. The first lane change time and the second lane change time are compared three times; If it is determined that the first lane change time is less than the second lane change time, then the first obstructing vehicle is designated as the target obstructing vehicle. If it is determined that the first lane change time is greater than the second lane change time, then the second obstacle vehicle is designated as the target obstacle vehicle. If it is determined that the first lane change time is equal to the second lane change time, then either the first obstacle vehicle or the second obstacle vehicle is taken as the target obstacle vehicle.

3. The vehicle lane change collision avoidance method according to claim 1, characterized in that, Before determining whether the vehicle to be changed lanes has initiated a lane-changing operation, the process also includes: Obtain the current lateral relative distance between the vehicle to be changed lanes and the target obstacle vehicle; Based on the current lateral relative distance and the relative speed of the target obstacle vehicle, calculate the safe lateral lane change time for the vehicle to be changed lanes. The predicted lane change time and the lateral safe lane change time are compared four times. If it is determined that the predicted lane change time is greater than or equal to the lateral safe lane change time, then the lane change operation is not initiated. If it is determined that the predicted lane change time is less than the lateral safe lane change time, then a judgment is made on whether the vehicle to be changed lanes should initiate a lane change operation based on the first comparison result.

4. The vehicle lane change collision avoidance method according to claim 1, characterized in that, Determining whether the vehicle to be changed lanes has initiated a lane-changing operation includes: If it is determined that the predicted lane change time is greater than or equal to the safe lane change time, then the lane change operation will not be initiated. If it is determined that the predicted lane change time is less than the safe lane change time, then the lane change operation is initiated.

5. The vehicle lane change collision avoidance method according to claim 1, characterized in that, Determining the target longitudinal lane-changing speed of the vehicle to be changed includes: If it is determined that the predicted remaining lane change time is less than the safe remaining lane change time, then the current longitudinal lane change speed is taken as the target longitudinal lane change speed. If it is determined that the predicted remaining lane change time is greater than or equal to the safe remaining lane change time, then the sum of the current longitudinal lane change speed and the longitudinal change speed is calculated to obtain the target longitudinal lane change speed.

6. The vehicle lane change collision avoidance method according to claim 5, characterized in that, Before calculating the sum of the current longitudinal lane change speed and the longitudinal change speed, the method further includes: Obtain the second current longitudinal relative distance between the vehicle to be changed lanes and the target obstacle vehicle; The longitudinal change speed is obtained by calculating based on the second current longitudinal relative distance, the current longitudinal safe lane change distance, the predicted lane change remaining time, and the safe lane change remaining time.

7. The vehicle lane change collision avoidance method according to any one of claims 1 to 6, characterized in that, Before acquiring the obstacle vehicles in the target lane of the vehicle to be changed from, and the longitudinal relative distance and relative speed of the vehicle to be changed from each obstacle vehicle, the method further includes: Receive steering signals sent by the steering system, the steering signals including right steering signals and left steering signals; If the turning signal is the right turn signal, then the target lane to be changed is determined to be the first lane to the right of the vehicle to be changed. If the turning signal is the left turning signal, then the target lane to be changed is determined to be the first lane to the left of the vehicle to be changed lanes.

8. A vehicle lane change collision avoidance device, characterized in that, The device includes: The acquisition module is used to acquire the obstacle vehicles in the target lane of the vehicle to be changed from, and the longitudinal relative distance and relative speed of the vehicle to be changed from each obstacle vehicle. The calculation module is used to calculate the predicted lane change time and safe lane change time of the vehicle to be changed lanes based on the preset longitudinal safe lane change distance, the longitudinal relative distance and the relative speed. The lane change operation determination module is used to compare the predicted lane change time with the safe lane change time to determine whether the vehicle to be changed lanes should initiate a lane change operation. The monitoring module is used to monitor and predict the remaining time of the lane change and the remaining time of the safe lane change in real time if the lane change operation is initiated. The lane change speed determination module is used to compare the predicted remaining time of lane change with the remaining time of safe lane change a second time to determine the target longitudinal lane change speed of the vehicle to be changed lanes, so that the vehicle to be changed lanes can continue to change lanes according to the target longitudinal lane change speed. The longitudinal relative distance includes a first current longitudinal relative distance and a longitudinal historical relative distance. The calculation module is specifically used to obtain the current time corresponding to the first current longitudinal relative distance and the historical time corresponding to the longitudinal historical relative distance; calculate the relative speed between the vehicle to be changed lanes and each obstacle vehicle based on the first current longitudinal relative distance, the longitudinal historical relative distance, the current time, and the historical time; calculate the lane change time by combining the first current longitudinal relative distance and the relative speed; sort the lane change times, take the minimum lane change time as the predicted lane change time, and take the obstacle vehicle corresponding to the minimum lane change time as the target obstacle vehicle; calculate the safe lane change time by combining the preset longitudinal safe lane change distance and the relative speed corresponding to the target obstacle vehicle.

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 one or more processors, cause the electronic device to implement the vehicle lane change collision avoidance method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores computer-readable instructions, which, when executed by the processor of a computer, cause the computer to perform the vehicle lane change collision avoidance method according to any one of claims 1 to 7.

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