Methods, devices and electronic equipment for obtaining evidence of vehicles changing lanes and yielding.

Abstract

This application discloses a method, device, and electronic device for obtaining evidence of vehicle lane merging and yielding. The method includes: responding to a lane merging event of a vehicle initiating a lane merging in the current road environment and targeting a target road, determining the vehicles in the yielding area corresponding to the lane merging event, obtaining the preceding vehicle, and using the preceding vehicle obtained at this time as a discrimination standard to facilitate subsequent yielding judgment and improve the rationality of the yielding judgment; if the lane merging initiating vehicle is detected to have entered the target road, obtaining the positional relationship between the lane merging initiating vehicle and the preceding vehicle; if the positional relationship belongs to a preset positional relationship, generating the evidence collection result corresponding to the lane merging initiating vehicle, realizing the judgment of whether the vehicle should yield when merging. The method simplifies the judgment logic while ensuring the accuracy of the judgment result and can be applied to various vehicle lane merging scenarios.

Description

Technical Field

[0001] This application relates to the field of traffic engineering technology, and in particular to a method, device and electronic equipment for obtaining evidence of vehicle merging and yielding. Background Technology

[0002] According to traffic rules, at road sections and intersections where lanes are reduced, drivers should follow traffic signs to avoid collisions caused by vehicles vying for lanes. Currently, the main traffic modes are "alternating traffic" and "yielding traffic." "Alternating traffic" applies to scenarios without traffic signs, where vehicles in each lane take turns passing when waiting in line or moving slowly. "Yielding traffic" applies to scenarios with yield signs, where vehicles in one lane must yield to vehicles in another lane. Evidence collection for violations of "alternating traffic" is relatively simple; it only requires tracking vehicles detected in the image and determining whether they entered the designated lane in an alternating manner based on their position changes and the order in which they merged into the lane. However, evidence collection for violations of "yielding traffic" is more complex due to the complexity of vehicle traffic conditions and yield determination criteria, resulting in a lack of effective methods for capturing such violations. Summary of the Invention

[0003] This application provides at least one method for obtaining evidence of vehicle lane merging and yielding, a device for obtaining evidence of vehicle lane merging and yielding, and an electronic device.

[0004] The first aspect of this application provides a method for obtaining evidence of lane merging and yielding, comprising: responding to a lane merging event of a vehicle initiating a lane merging in the current road environment and targeting a target road, determining a yielding entry area corresponding to the lane merging event, wherein the yielding entry area is located within the target road; acquiring vehicles within the yielding entry area and obtaining the preceding vehicle; if it is detected that the lane merging initiating vehicle has entered the target road, acquiring the positional relationship between the lane merging initiating vehicle and the preceding vehicle; if the positional relationship belongs to a preset positional relationship, generating an evidence collection result corresponding to the lane merging initiating vehicle.

[0005] In one embodiment, before determining the yielding area corresponding to the lane merging event in response to a lane merging event of a vehicle initiating a lane merging in the current road environment, the method further includes: obtaining the lane merging initiation area in the current road environment; the lane merging event is determined as follows: if a vehicle is detected in the lane merging initiation area, it is determined that a lane merging event exists, and the vehicle in the lane merging initiation area is taken as the lane merging initiating vehicle.

[0006] In one embodiment, in response to a lane-changing event initiated by a vehicle in the current road environment for a target road, determining the yielding entry area corresponding to the lane-changing event includes: obtaining the regional location parameters of the lane-changing initiation area; and dividing the yielding entry area within the target road based on the regional location parameters to obtain the yielding entry area.

[0007] In one embodiment, if a lane-merging initiating vehicle is detected entering the target road, the positional relationship between the lane-merging initiating vehicle and the preceding vehicle is obtained, including: if a lane-merging initiating vehicle is detected entering the target road, a road image of the target road is acquired; and the positional relationship between the lane-merging initiating vehicle and the preceding vehicle is obtained based on the road image.

[0008] In one embodiment, the road image contains a lane-merging initiating vehicle and a preceding vehicle; obtaining the positional relationship between the lane-merging initiating vehicle and the preceding vehicle based on the road image includes: obtaining the vehicle position corresponding to the lane-merging initiating vehicle and the vehicle position corresponding to the preceding vehicle contained in the road image; and obtaining the positional relationship between the lane-merging initiating vehicle and the preceding vehicle based on the vehicle position corresponding to the lane-merging initiating vehicle, the vehicle position corresponding to the preceding vehicle, and the preset traffic flow direction of the target road.

[0009] In one embodiment, the entry of a lane-merging initiating vehicle into the target road is determined as follows: the yielding zone corresponding to the lane-merging event is determined, and the yielding zone is located within the target road; if the position of the lane-merging initiating vehicle is detected to be within the yielding zone, it is determined that the lane-merging initiating vehicle has entered the target road.

[0010] In one embodiment, if the positional relationship belongs to a preset positional relationship, the evidence collection result corresponding to the lane-merging initiating vehicle is generated, including: capturing images of the lane-merging event execution process of the lane-merging initiating vehicle to obtain a lane-merging image set; and generating the evidence collection result corresponding to the lane-merging initiating vehicle based on the lane-merging image set.

[0011] In one embodiment, image acquisition is performed on the lane merging event execution process of the lane merging initiating vehicle to obtain a lane merging image set, including: if a lane merging event is detected and there is a preceding vehicle in the lane merging area, a lane merging start image is acquired for the lane merging initiating vehicle to obtain a lane merging start image; and if, during the process of the lane merging initiating vehicle entering the target road, there is still a preceding vehicle in the lane merging area, a lane merging entry image is acquired for the lane merging initiating vehicle to obtain a lane merging entry image; and if it is detected that the lane merging initiating vehicle has entered the target road and its positional relationship is a preset positional relationship, a lane merging success image is acquired for the lane merging initiating vehicle to obtain a lane merging success image; and a lane merging image set is obtained based on the lane merging start image, the lane merging entry image, and the lane merging success image.

[0012] The second aspect of this application provides a vehicle lane merging yielding evidence collection device, comprising: a response module, configured to respond to a lane merging event initiated by a vehicle in the current road environment targeting a target road, and determine the yielding entry area corresponding to the lane merging event, wherein the yielding entry area is located within the target road; a preceding vehicle determination module, configured to acquire vehicles within the yielding entry area to obtain the preceding vehicle; a positional relationship acquisition module, configured to acquire the positional relationship between the lane merging initiating vehicle and the preceding vehicle if the lane merging initiating vehicle is detected entering the target road; and an evidence collection module, configured to generate an evidence collection result corresponding to the lane merging initiating vehicle if the positional relationship belongs to a preset positional relationship.

[0013] A third aspect of this application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute program instructions stored in the memory to implement the aforementioned method for obtaining evidence of vehicle lane merging and yielding.

[0014] The fourth aspect of this application provides a computer-readable storage medium having program instructions stored thereon, which, when executed by a processor, implement the above-described method for obtaining evidence of vehicle lane merging and yielding.

[0015] The above solution, in response to a lane-merging event initiated by a vehicle in the current road environment, determines the yielding zone corresponding to the lane-merging event, acquires the vehicles within the yielding zone, and identifies the preceding vehicle. This preceding vehicle is used as a criterion for subsequent yielding decisions, improving the rationality of the yielding judgment. If a lane-merging initiating vehicle is detected entering the target road, the positional relationship between the initiating vehicle and the preceding vehicle is acquired. If the positional relationship is a preset relationship, an evidence result corresponding to the initiating vehicle is generated, enabling the determination of whether to yield during a lane merge. By detecting whether the positional relationship between the initiating vehicle and the preceding vehicle is a preset relationship, the judgment logic is simplified while ensuring the accuracy of the judgment result, making it applicable to various lane-merging scenarios.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0018] Figure 1 This is a schematic diagram of an implementation environment for an exemplary embodiment of the vehicle lane merging and yielding evidence collection method of this application;

[0019] Figure 2 This is a flowchart of an exemplary embodiment of the vehicle lane change and yielding evidence method of this application;

[0020] Figure 3 This is a schematic diagram of a vehicle changing lanes, illustrating an exemplary embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a road image shown in an exemplary embodiment of this application;

[0022] Figure 5 This is a schematic diagram illustrating the right-turn lane merging area division in an exemplary embodiment of this application;

[0023] Figure 6 This is a schematic diagram illustrating the division of left-turn lanes in an exemplary embodiment of this application;

[0024] Figure 7 This is a schematic diagram illustrating the division of areas for right-turn lane merging in an exemplary embodiment of this application;

[0025] Figure 8 This is a schematic diagram illustrating the division of areas for left-turn lane merging in a lane merging scenario, as shown in an exemplary embodiment of this application.

[0026] Figure 9 This is a schematic diagram illustrating the division of right-turn and lane-merging areas in a right-turn scenario at an intersection, as shown in an exemplary embodiment of this application.

[0027] Figure 10 This is a flowchart of another exemplary embodiment of the vehicle lane change and yielding evidence method of this application;

[0028] Figure 11 Based on Figure 5 A schematic diagram of a vehicle merging into another lane;

[0029] Figure 12 This is a block diagram illustrating a vehicle lane change yielding evidence collection device, as shown in an exemplary embodiment of this application.

[0030] Figure 13 This is a schematic diagram of the structure of an electronic device shown in an exemplary embodiment of this application;

[0031] Figure 14 This is a schematic diagram illustrating the structure of a computer-readable storage medium, as shown in an exemplary embodiment of this application. Detailed Implementation

[0032] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0033] In the following description, specific details such as particular system architectures, interfaces, and technologies are presented for illustrative purposes rather than for limiting purposes, in order to provide a thorough understanding of this application.

[0034] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this document means two or more. Moreover, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of objects. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0035] Please refer to Figure 1 This diagram illustrates the operating environment of a vehicle lane-changing yielding evidence collection method provided in one embodiment of this application. The operating environment may include: an information collection terminal 10 and a server 20.

[0036] The information collection terminal 10 collects road information, road vehicle driving information, etc. The information collection terminal 10 includes, but is not limited to, image acquisition devices, lidar scanning devices, signaling receiving and processing devices, etc., which are not limited in this application. If the information collection terminal 10 is an image acquisition device, lidar scanning device, etc., then the information collection terminal 10 needs to actively collect road information, road vehicle driving information, etc., through image acquisition or lidar scanning. If the information collection terminal 10 is a signaling receiving and processing device, then the information collection terminal 10 needs to interact with driving vehicles, road facilities, etc., through signaling to collect road information, road vehicle driving information, etc.

[0037] Among them, server 20 can refer to equipment used for road management. For example, server 20 can be used to control traffic lights on the road, locate and track vehicles on the road, monitor whether vehicles on the road are driving illegally, and provide vehicles on the road with road condition information, etc.

[0038] The server 20 can be a single physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The terminal 11 can be a car navigation system, smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. The terminals and the server can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0039] The information acquisition terminal 10 and the server 20 can communicate with each other via a network. The information acquisition terminal 10 and the server 20 can be directly or indirectly connected via wired or wireless communication, which is not limited herein.

[0040] Optionally, server 20 may be responsible for obtaining evidence of primary vehicles changing lanes and yielding, while information collection terminal 10 may be responsible for obtaining evidence of secondary vehicles changing lanes and yielding; or, server 20 may be responsible for obtaining evidence of secondary vehicles changing lanes and yielding, while information collection terminal 10 may be responsible for obtaining evidence of primary vehicles changing lanes and yielding; or, server 20 or information collection terminal 10 may each be responsible for obtaining evidence of vehicles changing lanes and yielding independently.

[0041] It is understood that in the specific embodiments of this application, data such as vehicle images and user information are involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0042] Please refer to Figure 2 The document illustrates a flowchart of a vehicle lane-changing yielding evidence collection method according to an embodiment of this application. This method can be applied to a computer device, which refers to an electronic device with data computing and processing capabilities. For example, the executing entity for each step could be... Figure 1 The information acquisition terminal 10 or server 20 in the operating environment shown. It should be understood that this method can also be applied to other exemplary implementation environments and specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment to which this method is applicable.

[0043] The following section will describe in detail the vehicle lane merging and yielding evidence method proposed in this application embodiment, using the server as the specific execution subject.

[0044] like Figure 2 As shown, in an exemplary embodiment, the method for obtaining evidence of a vehicle merging and yielding includes at least steps S210 to S240, which are described in detail below:

[0045] Step S210: In response to a lane-changing event initiated by a vehicle in the current road environment for a target road, determine the yield zone corresponding to the lane-changing event, and ensure that the yield zone is located within the target road.

[0046] Lane merging refers to the process where, at road sections or intersections where lanes are reduced, or due to obstructions or barriers ahead, vehicles must change lanes in advance at designated locations. For example, please refer to [link to example]. Figure 3 , Figure 3 This is a schematic diagram of a vehicle merging into lanes, illustrating an exemplary embodiment of this application. Figure 3As shown, the current road environment includes main road lanes and auxiliary road lanes, separated by green belts or median strips. These green belts or median strips have merging lanes. If a vehicle in the main road lane needs to merge into the auxiliary road lane, it must do so at the designated merging lane. Generally, to ensure vehicle safety and avoid affecting the normal driving of vehicles in the auxiliary road lanes, yield signs are placed at the merging lanes, giving priority to vehicles in the auxiliary road lanes. Only after vehicles in the auxiliary road lanes have safely passed can vehicles changing lanes from the main road lanes merge into the auxiliary road lanes.

[0047] The vehicle initiating the lane change is the vehicle that needs to merge into another lane. The target road is the road that the vehicle initiating the lane change will travel on after merging. The yielding area is located within the target road. The yielding area is the area in which the vehicle initiating the lane change needs to yield to other vehicles when merging into another lane.

[0048] The yielding area can be a pre-defined area, such as an area pre-defined based on the road environment; or it can be a flexibly generated area based on the current road conditions, such as the current road environment, the position of the vehicle initiating the lane change, the size (width, length, etc.) of the vehicle initiating the lane change, and the parameters of the target road, in order to improve the accuracy of the determined yielding area.

[0049] For example, the detection method could be real-time detection of whether a vehicle lane-changing event exists in the current road environment. This could involve deploying an image acquisition device in the current road environment to collect image information, specifically vehicle driving information. The image acquisition device could then detect whether a lane-changing event exists. For instance, if a vehicle is detected in the lane-changing lane in the image acquired by the image acquisition device, a lane-changing event can be identified. Alternatively, the driving posture of vehicles detected in the image can be determined; if a vehicle's driving posture changes from a normal driving posture to a lane-changing posture, a lane-changing event can be identified. Another method involves a communication connection between the vehicles in the current road environment and the server. When a vehicle needs to change lanes, it generates a lane-changing command and sends it to the server, which then identifies a lane-changing event. It is understood that the method for determining lane-changing events can be flexibly chosen based on actual road conditions, and this application does not limit this approach.

[0050] Step S220: Obtain the vehicles that have entered the area and get the first vehicle.

[0051] If there are vehicles within the allowed driving area, then obtain the vehicles within the allowed driving area and get the vehicle that drove first.

[0052] For example, an image acquisition device can be used to acquire images of vehicles entering the area, and the acquired images can be identified to obtain vehicle identifiers, thereby identifying the preceding vehicle. Alternatively, the vehicle and a server can have a communication connection, and the server can send a vehicle identifier reporting instruction to the vehicles entering the area, so that the vehicles entering the area can report their vehicle identifiers to the server based on the vehicle identifier reporting instruction, thereby identifying the preceding vehicle. This application does not limit the process of determining the preceding vehicle.

[0053] In some implementations, if there are no vehicles in the lane-merging area, it indicates that there are no vehicles that the lane-merging vehicle needs to yield to, and the yielding evidence collection for the lane-merging event of that vehicle is directly terminated.

[0054] Step S230: If a lane-merging initiating vehicle is detected entering the target road, the positional relationship between the lane-merging initiating vehicle and the preceding vehicle is obtained.

[0055] Once the vehicle initiating the lane change is detected to have entered the target road, it indicates that the lane change event for the vehicle initiating the lane change on the target road has been completed. The positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained in order to determine whether the vehicle initiating the lane change has legally yielded the right-of-way based on the positional relationship.

[0056] In some implementations, the detection of whether the lane-merging initiating vehicle has entered the target road can be achieved by detecting whether the lane-merging initiating vehicle is located on the target road in the image acquired by the image acquisition device. The criteria for determining whether the lane-merging initiating vehicle is located on the target road can be whether the lane-merging initiating vehicle is located in a designated area of ​​the target road in the detection image, or whether the driving posture of the lane-merging initiating vehicle in the detection image changes from a lane-merging posture to a normal driving posture in the target road.

[0057] For example, if a vehicle initiating a lane change is detected entering the target road, the positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained, including: if a vehicle initiating a lane change is detected entering the target road, a road image of the target road is acquired; and the positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained based on the road image.

[0058] Image recognition is performed on the road image of the target road to obtain the positional relationship between the vehicle initiating the lane change and the preceding vehicle based on the recognition results.

[0059] For example, if a road image contains a vehicle initiating a lane change and a preceding vehicle, the position of the vehicle initiating the lane change and the position of the preceding vehicle in the road image are obtained. Based on the positions of the vehicles initiating the lane change, the preceding vehicles, and the preset traffic flow direction of the target road, the positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained.

[0060] Please see Figure 4 , Figure 4 A schematic diagram of a road image shown as an exemplary embodiment of this application, such as Figure 4 As shown, vehicle A merges from the main road lane into the auxiliary road lane, i.e., the target road is the auxiliary road lane. When vehicle A initiates the lane merge, the preceding vehicle is vehicle B. After detecting that vehicle A has merged into the auxiliary road lane, the image acquisition device acquires the road image of the auxiliary road lane. The server performs image analysis on the road image to obtain the vehicle positions of vehicle A and vehicle B, and determines that vehicle A's vehicle position is ahead of vehicle B's vehicle position based on the preset traffic flow direction of the auxiliary road lane.

[0061] In some implementations, the positional relationship between the lane-merging initiating vehicle and the preceding vehicle can be obtained by analyzing the images captured by the image acquisition device to obtain the positions of the lane-merging initiating vehicle and the preceding vehicle, and then obtaining the positional relationship between the lane-merging initiating vehicle and the preceding vehicle; or the lane-merging initiating vehicle and the preceding vehicle have a communication connection and send their own position information to the server, and the server obtains the positional relationship between the lane-merging initiating vehicle and the preceding vehicle based on the received position information.

[0062] Step S240: If the positional relationship belongs to the preset positional relationship, then generate the evidence collection result corresponding to the lane-changing initiating vehicle.

[0063] Preset positional relationship refers to the positional relationship between the vehicle initiating the lane change and the vehicle in front when the vehicle initiating the lane change has not yielded to the vehicle in front. For example, preset positional relationship includes the vehicle initiating the lane change traveling in front of the vehicle in front, or the vehicle initiating the lane change and the vehicle in front traveling in parallel. Preset positional relationship can be set according to specific traffic rules.

[0064] If the positional relationship is a preset positional relationship, it indicates that the vehicle initiating the lane change did not yield to the vehicle in front, and an evidence collection result corresponding to the vehicle initiating the lane change is generated.

[0065] The evidence collection results are used to record relevant information about the lane-changing initiating vehicle failing to yield to the first-moving vehicle. It may include relevant images (pictures or videos) of the lane-changing event performed by the lane-changing initiating vehicle, or it may only contain the vehicle identification of the lane-changing initiating vehicle. This application does not limit this.

[0066] In some implementations, before determining the yielding area corresponding to the lane merging event in response to a lane merging event of a vehicle initiating a lane merging in the current road environment, the method further includes: obtaining the lane merging initiation area in the current road environment; the lane merging event is determined as follows: if a vehicle is detected in the lane merging initiation area, it is determined that a lane merging event exists, and the vehicle in the lane merging initiation area is taken as the lane merging initiating vehicle.

[0067] The lane merging initiation area can be obtained based on actual road markings or on virtually generated markings; this application does not limit this.

[0068] If a vehicle is detected within the lane merging initiation area, it is determined that a lane merging event has occurred, and the vehicle within the lane merging initiation area is identified as the initiating vehicle.

[0069] In some implementations, the yielding area is obtained based on the lane merging initiation area. In response to a lane merging event initiated by a vehicle initiating a lane merging in the current road environment for a target road, the yielding area corresponding to the lane merging event is determined, including: obtaining the regional location parameters of the lane merging initiation area; and dividing the yielding area within the target road based on the regional location parameters to obtain the yielding area.

[0070] Based on the regional location parameters of the lane merging initiation area, the yielding zone is divided within the target road to obtain the yielding zone, thereby improving the accuracy of the obtained yielding zone.

[0071] In some implementations, the entry of a lane-merging initiating vehicle into the target road is determined by: determining the yield zone corresponding to the lane-merging event, wherein the yield zone is located within the target road; if the position of the lane-merging initiating vehicle is detected to be within the yield zone, it is determined that the lane-merging initiating vehicle has entered the target road.

[0072] By dividing the lane into yield zones, the system can determine whether a lane-merging vehicle has entered the target road by detecting whether its position is within the yield zone, thus improving the accuracy and efficiency of the judgment.

[0073] For example, please refer to Figure 5 , Figure 5 This is a schematic diagram illustrating the right-turn lane merging area division of an exemplary embodiment of this application, as shown below. Figure 5As shown, the area between the yielding lane and the waiting lane is designated as the lane merging initiation area, which also serves as a merging buffer zone. Vehicles in the main road lanes that need to merge into the auxiliary lanes can slowly drive or stop in this merging buffer zone, thus not affecting the straight-ahead traffic in both the main road and auxiliary lanes. Near the auxiliary lane in the merging buffer zone, there is a solid or dashed "waiting lane" line to remind merging vehicles to observe and yield. A virtual "yielding lane" line is set on the main road lane relative to the "waiting lane" line. The optimal distance between the "waiting lane" line and the "yielding lane" line in the main road lane is large enough to accommodate the body of one vehicle. The area between the "waiting lane" line and the "yielding lane" line in the main road lane is designated as the lane merging initiation area.

[0074] Furthermore, on the auxiliary lanes, virtual "straight-ahead waiting lines" are set up near the "waiting lines," with the optimal distance between the "waiting lines" and the "straight-ahead waiting lines" being large enough to accommodate the body of one vehicle. On the auxiliary lanes, virtual "yielding lines" are set up relative to the "straight-ahead waiting lines," with the optimal distance between the "straight-ahead waiting lines" and the "yielding lines" being large enough to accommodate the body of one vehicle. The area between the "straight-ahead waiting lines" and the "yielding lines" on the auxiliary lanes is designated as the yielding area. Additionally, on the auxiliary lanes, virtual "yielding lines" are set up relative to the "waiting lines" and the "straight-ahead waiting lines," with the optimal distance between the two lines and the "yielding lines" being large enough to accommodate the body of one vehicle. The side of the "yielding lines" closest to the direction of travel is designated as the yielding area.

[0075] Based on the above regional division method, see also Figure 6 , Figure 6 A schematic diagram illustrating the division of left-turn lanes for an exemplary embodiment of this application; and also see Figure 7 , Figure 7 A schematic diagram illustrating the division of right-turn lane merging areas in an exemplary lane merging scenario shown in this application; and also see... Figure 8 , Figure 8 A schematic diagram illustrating the division of left-turn lane merging areas in a lane merging scenario, as shown in an exemplary embodiment of this application; and also see... Figure 9 , Figure 9 This is a schematic diagram illustrating the division of right-turn lane merging areas in an intersection right-turn scenario, as shown in an exemplary embodiment of this application. It should be noted that the above is merely an illustrative example; in actual applications, more road scenarios can be divided into areas based on the above method to obtain evidence of vehicle lane merging and yielding based on the divided roads. Therefore, the vehicle lane merging and yielding evidence collection method of this application can be applied to various different road scenarios.

[0076] In some implementations, if the positional relationship is a preset positional relationship, the evidence collection result corresponding to the lane-merging initiating vehicle is generated, including: capturing images of the lane-merging event execution process of the lane-merging initiating vehicle to obtain a lane-merging image set; and generating the evidence collection result corresponding to the lane-merging initiating vehicle based on the lane-merging image set.

[0077] Image acquisition can be performed on the execution process of each lane-changing event. If the positional relationship is determined to be within a preset range, the image acquisition result is directly used as the evidence for the vehicle initiating the lane change. If the positional relationship is determined to be outside the preset range, the image acquisition result is discarded. The set of lane-changing images obtained from the image acquisition can be either pictures or videos; this application does not impose any restrictions on this.

[0078] For example, image acquisition is performed on the lane merging event execution process of the lane merging initiating vehicle to obtain a lane merging image set, including: if a lane merging event is detected and there is a preceding vehicle in the lane merging area, a lane merging start image is acquired for the lane merging initiating vehicle to obtain a lane merging start image; and if, during the process of the lane merging initiating vehicle entering the target road, there is still a preceding vehicle in the lane merging area, a lane merging entry image is acquired for the lane merging initiating vehicle to obtain a lane merging entry image; and if it is detected that the lane merging initiating vehicle has entered the target road and its positional relationship is a preset positional relationship, a lane merging success image is acquired for the lane merging initiating vehicle to obtain a lane merging success image; and a lane merging image set is obtained based on the lane merging start image, the lane merging entry image, and the lane merging success image.

[0079] Please see Figure 10 , Figure 10 A flowchart illustrating a method for obtaining evidence of a vehicle merging and yielding, as shown in another exemplary embodiment of this application, is as follows: Figure 10As shown, the process includes: Step S1001: Detecting a lane-merging initiating vehicle entering the lane-merging initiation area; Step S1002: Determining whether there are vehicles in the yielding entry area of ​​the target road. If there are, proceeding to Step S1003, and designating the vehicles in the yielding entry area as the first vehicles; otherwise, ending the process; Step S1003: Acquiring a lane-merging start image for the lane-merging initiating vehicle; Step S1004: The lane-merging initiating vehicle begins to leave the lane-merging initiation area, i.e., begins to enter the target road; Step S1005: Determining whether there are still first vehicles in the yielding entry area. If there are, proceeding to Step S1006, if... If the condition does not exist, the process ends; Step S1006: Acquire a lane-merging image of the vehicle initiating the lane merge; Step S1007: The vehicle initiating the lane merge enters the target road; Step S1008: Determine whether the positional relationship between the vehicle initiating the lane merge and the preceding vehicle belongs to a preset positional relationship. If it is satisfied, proceed to Step S1009; otherwise, the process ends; Step S1009: Acquire a successful lane-merging image of the vehicle initiating the lane merge; Step S1010: Obtain a lane-merging image set based on the lane-merging start image, lane-merging entry image, and successful lane-merging image, thus obtaining the evidence collection result corresponding to the vehicle initiating the lane merge.

[0080] Please see Figure 11 , Figure 11 Based on Figure 5 A schematic diagram of a vehicle merging into another lane, such as... Figure 11 As shown in Figure a, when the rear of vehicle A in the main lane crosses the "yield line" on the main lane, it is determined whether there is a vehicle between the "yield line" and the "straight-ahead waiting line" on the auxiliary lane. If vehicle B is found to be passing, a lane-merging start image is captured for vehicle A, and a pre-captured lane-merging start image is obtained. Then, as... Figure 11 As shown in Figure b, when the rear of vehicle A is detected crossing the "waiting line" and beginning to enter the auxiliary lane, if the rear of vehicle B crosses the straight-ahead waiting line, it indicates that vehicle B has already left the yield buffer zone. That is, vehicle A yields according to the signs when merging into the auxiliary lane, and the pre-captured image of vehicle A at the start of the lane merging is deleted. However, if there are vehicles traveling between the "yielding entry line" and the "straight-ahead waiting line" on the auxiliary lane, and it is vehicle B from before, then a lane merging image of vehicle A is captured, resulting in the lane merging image. Further, as... Figure 11As shown in Figure c, when the rear of vehicle A passes the "yield off" sign, and the body of the vehicle initiating the lane merging is completely on the auxiliary lane, it is determined that the vehicle initiating the lane merging has entered the auxiliary lane. If vehicle A is behind vehicle B at this time, it means that vehicle A yielded according to the sign when merging into the auxiliary lane, and the lane merging start image and lane merging entry image of vehicle A are deleted. However, if vehicle A is in front of vehicle B at this time, it means that vehicle A did not yield according to the sign when merging into the auxiliary lane, and a lane merging success image is captured for vehicle A. Based on the lane merging start image, lane merging entry image, and lane merging success image, a lane merging image set is obtained, and the lane merging image set is used as the evidence result corresponding to the lane merging initiating vehicle.

[0081] The vehicle lane merging yielding evidence collection method provided in this application determines the yielding entry area corresponding to the lane merging event in response to a lane merging event of a vehicle initiating a lane merging on a target road in the current road environment, acquires the vehicles in the yielding entry area, and obtains the leading vehicle. The leading vehicle obtained at this time is used as the discrimination standard to facilitate subsequent yielding judgment and improve the rationality of the yielding judgment. If the lane merging initiating vehicle is detected to have entered the target road, the positional relationship between the lane merging initiating vehicle and the leading vehicle is acquired. If the positional relationship belongs to a preset positional relationship, the evidence collection result corresponding to the lane merging initiating vehicle is generated, realizing the judgment of whether the vehicle should yield when merging. By detecting whether the positional relationship between the lane merging initiating vehicle and the leading vehicle belongs to a preset positional relationship, the judgment logic is simplified while ensuring the accuracy of the judgment result, and it can be applied to various vehicle lane merging scenarios.

[0082] Figure 12 This is a block diagram illustrating a vehicle lane-changing yielding evidence collection device, as shown in an exemplary embodiment of this application. Figure 12 As shown, the exemplary vehicle lane-changing yielding evidence collection device 1200 includes: a response module 1210, a leading vehicle determination module 1220, a position relationship acquisition module 1230, and an evidence collection module 1240. Specifically:

[0083] Response module 1210 is used to respond to a vehicle lane merging event initiated by a vehicle in the current road environment for a target road, determine the yield zone corresponding to the vehicle lane merging event, and ensure that the yield zone is located within the target road.

[0084] The first vehicle determination module 1220 is used to acquire vehicles that have entered the driving area and obtain the first vehicle.

[0085] The position relationship acquisition module 1230 is used to acquire the position relationship between the lane-merging initiating vehicle and the preceding vehicle if it is detected that the lane-merging initiating vehicle has entered the target road.

[0086] The evidence collection module 1240 is used to generate evidence collection results for the vehicle initiating the lane change if the positional relationship belongs to a preset positional relationship.

[0087] In the aforementioned exemplary vehicle lane merging and yielding evidence collection device, in response to a lane merging event initiated by a vehicle in the current road environment targeting a target road, the device determines the vehicles within the yielding area corresponding to the lane merging event, thus obtaining the preceding vehicle. This preceding vehicle is used as a criterion for subsequent yielding judgment, improving the rationality of the yielding judgment. If a lane merging initiating vehicle is detected entering the target road, the device obtains the positional relationship between the lane merging initiating vehicle and the preceding vehicle. If the positional relationship belongs to a preset positional relationship, an evidence collection result corresponding to the lane merging initiating vehicle is generated, thereby realizing the judgment of whether a vehicle should yield during lane merging. By detecting whether the positional relationship between the lane merging initiating vehicle and the preceding vehicle belongs to a preset positional relationship, the judgment logic is simplified while ensuring the accuracy of the judgment result, and it can be applied to various vehicle lane merging scenarios.

[0088] The functions of each module can be found in the embodiments of the vehicle lane merging and yielding evidence collection method, and will not be repeated here.

[0089] Please see Figure 13 , Figure 13 This is a schematic diagram of the structure of an embodiment of the electronic device of this application. The electronic device 1300 includes a memory 1301 and a processor 1302. The processor 1302 is used to execute program instructions stored in the memory 1301 to implement the steps in any of the above embodiments of the vehicle lane merging and yielding evidence collection method. In a specific implementation scenario, the electronic device 1300 may include, but is not limited to, a microcomputer or a server. In addition, the electronic device 1300 may also include mobile devices such as laptops and tablets, which are not limited here.

[0090] Specifically, processor 1302 controls itself and memory 1301 to implement the steps in any of the vehicle lane-changing and yielding evidence collection method embodiments described above. Processor 1302 can also be referred to as a Central Processing Unit (CPU). Processor 1302 may be an integrated circuit chip with signal processing capabilities. Processor 1302 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor can be a microprocessor or any conventional processor. Furthermore, processor 1302 can be implemented using integrated circuit chips.

[0091] Please see Figure 14 , Figure 14 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. The computer-readable storage medium 1400 stores program instructions 1410 that can be executed by a processor. The program instructions 1410 are used to implement the steps in any of the above embodiments of the vehicle lane merging and yielding evidence collection method.

[0092] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0093] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0095] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or 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.) or processor to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for obtaining evidence of vehicles yielding when changing lanes, characterized in that, The method includes: In response to a lane-changing event initiated by a vehicle in the current road environment for a target road, a yielding zone corresponding to the lane-changing event is determined, wherein the yielding zone is located within the target road. The vehicles that have entered the driving area are identified, and the first vehicle to drive is determined. If the vehicle initiating the lane change is detected to have entered the target road, the positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained. If the positional relationship belongs to a preset positional relationship, then the evidence collection result corresponding to the lane-merging initiating vehicle is generated; The generation of the evidence collection result corresponding to the lane-merging initiating vehicle includes: If the lane-merging event is detected and a preceding vehicle is present in the yielding area, a lane-merging initiation image is acquired for the lane-merging initiating vehicle to obtain a lane-merging initiation image; and if, during the process of the lane-merging initiating vehicle entering the target road, the preceding vehicle is still detected in the yielding area, a lane-merging entry image is acquired for the lane-merging initiating vehicle to obtain a lane-merging entry image; and if it is detected that the lane-merging initiating vehicle has entered the target road and the positional relationship satisfies the preset positional relationship, a lane-merging success image is acquired for the lane-merging initiating vehicle to obtain a lane-merging success image. A set of lane merging images is obtained based on the lane merging initiation image, the lane merging entry image, and the lane merging success image; Based on the set of lane merging images, the evidence collection results corresponding to the lane merging initiating vehicle are generated.

2. The method according to claim 1, characterized in that, Before determining the yield zone corresponding to the lane-changing event of a vehicle initiating a lane-changing operation for a target road in the current road environment, the method further includes: Obtain the lane merging initiation area in the current road environment; The vehicle lane-changing event is determined in the following manner: If a vehicle is detected within the lane merging initiation area, it is determined that a lane merging event has occurred, and the vehicle within the lane merging initiation area is identified as the lane merging initiation vehicle.

3. The method according to claim 2, characterized in that, Determining the yielding zone corresponding to the vehicle lane-changing event includes: Obtain the regional location parameters of the lane merging initiation area; Based on the regional location parameters, the yielding area is divided within the target road to obtain the yielding area.

4. The method according to claim 1, characterized in that, If the vehicle initiating the lane change is detected to have entered the target road, the positional relationship between the vehicle initiating the lane change and the preceding vehicle is obtained, including: If the vehicle initiating the lane change is detected to have entered the target road, a road image of the target road is acquired; The positional relationship between the lane-merging vehicle and the preceding vehicle is obtained based on the road image.

5. The method according to claim 4, characterized in that, The road image contains the vehicle initiating the lane merging and the preceding vehicle; obtaining the positional relationship between the vehicle initiating the lane merging and the preceding vehicle based on the road image includes: Obtain the vehicle position corresponding to the lane-merging initiating vehicle and the vehicle position corresponding to the preceding vehicle contained in the road image; Based on the vehicle position corresponding to the lane-merging initiating vehicle, the vehicle position corresponding to the preceding vehicle, and the preset traffic flow direction of the target road, the positional relationship between the lane-merging initiating vehicle and the preceding vehicle is obtained.

6. The method according to claim 1, characterized in that, The entry of the lane-merging initiating vehicle into the target road is determined in the following manner: Determine the yield zone corresponding to the vehicle lane-changing event, wherein the yield zone is located within the target road; If the location of the lane-merging initiating vehicle is detected to be within the yielding area, it is determined that the lane-merging initiating vehicle has entered the target road.

7. A vehicle lane-changing yielding evidence collection device, characterized in that, include: The response module is used to respond to a vehicle lane-changing event initiated by a vehicle in the current road environment for a target road, and to determine the yielding area corresponding to the vehicle lane-changing event, wherein the yielding area is located within the target road. The leading vehicle determination module is used to acquire the vehicles in the allowed driving area and obtain the leading vehicle; The position relationship acquisition module is used to acquire the position relationship between the lane-merging initiating vehicle and the preceding vehicle if it is detected that the lane-merging initiating vehicle has entered the target road. The evidence collection module is used to generate an evidence collection result corresponding to the lane-merging initiating vehicle if the positional relationship belongs to a preset positional relationship. This includes: if a lane-merging event is detected and a preceding vehicle exists within the yielding area, acquiring a lane-merging initiating vehicle start image to obtain a lane-merging start image; and if, during the lane-merging initiating vehicle's entry into the target road, the preceding vehicle still exists within the yielding area, acquiring a lane-merging entry image to obtain a lane-merging entry image; and if the lane-merging initiating vehicle enters the target road and the positional relationship satisfies the preset positional relationship, acquiring a lane-merging success image to obtain a lane-merging success image; obtaining a lane-merging image set based on the lane-merging start image, the lane-merging entry image, and the lane-merging success image; and generating an evidence collection result corresponding to the lane-merging initiating vehicle based on the lane-merging image set.

8. An electronic device, characterized in that, It includes a memory and a processor, the processor being configured to execute program instructions stored in the memory to implement the method of any one of claims 1 to 6.

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