Control method, device and equipment for preventing rear-end collision of rear vehicle in vehicle lane changing process

Abstract

The invention discloses a control method, device and equipment for preventing rear-end collision of a rear vehicle in a vehicle lane changing process, and the method comprises the following steps: recognizing a vehicle driving into a pre-steering lane according to vehicle lane changing detection; according to the lane changing identification result of the vehicle, the collision risk between the vehicle and the rear vehicle is evaluated; and according to the collision risk of the vehicle, performing control operation of actively avoiding rear-end collision on the vehicle. The invention aims to solve the problems that in the lane changing process of a vehicle, lane changing is judged in a static mode, vehicle parameter control is inaccurate, and a vehicle avoiding strategy is simple. According to the method, the collision risk of rear-end collision is comprehensively evaluated by obtaining different vehicle distance information, vehicle speed information, time information and the like, so that the vehicle executes different control strategy operations, the driving safety is remarkably improved, rear-end collision accidents caused by improper lane changing are reduced, the driving efficiency is improved, and more comfortable and accurate driving experience is provided for a driver.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a control method, device, and equipment for preventing a rear-end collision of a vehicle during a vehicle lane change. Background Art

[0002] With the rapid development of the automobile industry and the increasing traffic congestion, road safety issues, especially rear-end collisions during lane change, have become an important issue that needs to be addressed. Traditional assisted driving systems, such as rearview mirrors and blind spot monitoring systems, can play a certain role in most cases, but their limitations gradually emerge in complex and changeable traffic environments. In order to solve this problem, it is particularly important to develop a more intelligent and real-time lane change assistance system. Some systems in the prior art use a static method to judge the safety of lane change, that is, only based on the current vehicle distance, vehicle speed and other parameters, without considering the dynamic changes of the rear vehicle, such as acceleration and deceleration. This judgment method is prone to misjudgment in complex and changeable traffic environments. For example, when the rear vehicle is accelerating and approaching, if the system still judges it as safe based on static parameters, it may cause a rear-end collision. The static judgment method usually cannot update the dynamic information of the rear vehicle in real time, so it cannot reflect the changes in the traffic environment in a timely manner. This may cause the system to be unable to make accurate judgments at critical moments, thereby increasing the risk of accidents.

[0003] Although some systems in the prior art take vehicle parameters into consideration, they usually only focus on some parameters, such as vehicle distance, vehicle speed, etc., while ignoring relative speed and other important information. This incomplete information acquisition may lead to the lack of accuracy of the system in formulating avoidance strategies. The algorithms of existing systems are usually relatively simple and cannot provide the optimal avoidance strategy based on comprehensive information. For example, when the system detects that the rear vehicle is accelerating, it may simply issue an alarm or restrict lane changes, but cannot formulate a more flexible avoidance strategy based on specific circumstances. The control strategies of existing systems are usually relatively fixed and cannot be adaptively adjusted according to factors such as the driver's driving style and road conditions. This may result in the system being unable to provide effective assistance to the driver in some cases, and may even interfere with the driver's normal driving. Summary of the invention

[0004] The main purpose of this application is to provide a control method to prevent the rear-end collision of the rear vehicle during the vehicle's lane change process, aiming to solve the problems of judging lane changes by static means, inaccurate vehicle parameter control, and simple vehicle avoidance strategy during the vehicle's lane change process, which lead to rear-end collision by the rear vehicle. This technical method obtains different vehicle distance information, vehicle speed information, time information, etc. to comprehensively evaluate the collision risk of rear-end collision, so that the vehicle executes different control strategy operations. This method will significantly improve driving safety, reduce rear-end collision accidents caused by improper lane changes, improve driving efficiency, and provide drivers with a more comfortable and accurate driving experience.

[0005] To achieve the above object, the present application provides a control method for preventing a rear-end collision during a vehicle lane change, the method comprising the following steps:

[0006] According to the vehicle lane change detection, the vehicle entering the pre-turn lane is identified;

[0007] assessing the collision risk between the vehicle and a following vehicle according to a result of lane change recognition of the vehicle;

[0008] According to the collision risk between the vehicle and the following vehicle, a control operation to actively avoid rear-end collision is performed on the vehicle.

[0009] In one embodiment, the step of identifying the vehicle entering the pre-turn lane based on the vehicle lane change detection further includes:

[0010] Detecting whether the front of the vehicle is on the road guide line, and calculating the angle between the vehicle and the lane guide line;

[0011] When the vision module of the vehicle detects that the front of the vehicle is pressing on the road guide line, the angle between the vehicle and the lane guide line reaches a preset angle value, and the lateral driving direction of the vehicle is consistent with the direction of the road guide line, the lane change operation of the vehicle is identified.

[0012] In one embodiment, the step of evaluating the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle further includes:

[0013] Acquire a relative speed between the vehicle and the rear vehicle on the pre-turn lane according to the longitudinal speed of the vehicle and the speed of the rear vehicle on the pre-turn lane;

[0014] Calculating the time of collision risk between the vehicle and the rear vehicle on the pre-turn lane according to the relative speed and distance between the vehicle and the rear vehicle on the pre-turn lane;

[0015] Calculating a derivative value of the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane according to the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane;

[0016] According to the time when the risk of collision between the vehicle and the rear vehicle on the pre-turn lane occurs and the derivative value, it is evaluated whether there is a risk of collision between the vehicle and the rear vehicle on the pre-turn lane.

[0017] In one embodiment, the step of evaluating whether there is a collision risk between the vehicle and the following vehicle on the pre-turn lane according to the time and derivative value of the collision risk between the vehicle and the following vehicle on the pre-turn lane further includes:

[0018] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a first preset threshold interval, determining that there is a first level collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0019] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a second preset threshold interval, determining that there is a second level of collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0020] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a third preset threshold interval, determining that there is a third level collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0021] When the risk of collision occurs between the vehicle and the following vehicle and the derivative value is within a fourth preset threshold interval, it is determined that there is no risk of collision between the vehicle and the following vehicle on the pre-steering lane.

[0022] In one embodiment, the step of performing a control operation to actively avoid rear-end collision on the vehicle according to the collision risk between the vehicle and the following vehicle further includes:

[0023] When it is determined that there is a first level collision risk between the vehicle and a rear vehicle on the pre-turn lane, performing a control operation of stopping lane change on the vehicle;

[0024] When it is determined that there is a second-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing a braking lane change control operation on the vehicle;

[0025] When it is determined that there is a third-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing an acceleration lane change control operation on the vehicle;

[0026] When it is determined that there is no collision risk between the vehicle and the following vehicle on the pre-turn lane, a normal lane change control operation is performed on the vehicle.

[0027] In one embodiment, before the step of identifying the vehicle entering the pre-turn lane according to the vehicle lane change detection, the step further includes:

[0028] Detecting the operating status of the vehicle;

[0029] When the working state of the vehicle is in a working state without fault indication, the step of identifying the vehicle entering the pre-turn lane according to the vehicle lane change detection is performed.

[0030] In one embodiment, the method further comprises:

[0031] When the vehicle performs a control operation of stopping lane change, the vehicle performs a process of refusing lane change and performs a voice reminder;

[0032] When the vehicle performs a braking lane change control operation, the vehicle performs active braking and issues a voice warning;

[0033] When the vehicle performs an acceleration lane change control operation, the vehicle actively accelerates and issues a voice reminder;

[0034] When the vehicle performs a normal lane change control operation, the vehicle does not actively process and issue a voice reminder.

[0035] In addition, to achieve the above-mentioned purpose, the present application also provides a control device for preventing a rear-end collision of a vehicle during a vehicle lane change, comprising: a lane change recognition module, a risk assessment module and a vehicle control module;

[0036] A lane change recognition module, which recognizes the vehicle entering the pre-turn lane based on the vehicle lane change detection;

[0037] a risk assessment module, which assesses the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle;

[0038] The vehicle control module performs active control operations to avoid rear-end collision on the vehicle according to the collision risk between the vehicle and the following vehicle.

[0039] In addition, to achieve the above-mentioned purpose, the present application also provides a control device for preventing rear-end collisions of rear vehicles during vehicle lane changes, and the control device for preventing rear-end collisions of rear vehicles during vehicle lane changes includes: a memory, a processor, and a control processing program for preventing rear-end collisions of rear vehicles during vehicle lane changes stored on the memory and executable on the processor, and when the control processing program for preventing rear-end collisions of rear vehicles during vehicle lane changes is executed by the processor, the steps of the control method for preventing rear-end collisions of rear vehicles during vehicle lane changes are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a readable storage medium, on which is stored a control program for preventing a rear-end collision with a rear vehicle during a vehicle lane change. When the control program for preventing a rear-end collision with a rear vehicle during a vehicle lane change is executed by a processor, the steps of the control method for preventing a rear-end collision with a rear vehicle during a vehicle lane change are implemented.

[0041] The above one or more technical solutions provided by this application may have the following advantages or at least achieve the following technical effects:

[0042] The present application discloses a control method, device and equipment for preventing a rear-end collision of a rear vehicle during a vehicle lane change, and relates to the field of vehicle control. The technical method comprises the following steps: identifying a vehicle entering a pre-steering lane according to a vehicle lane change detection; evaluating the collision risk of the vehicle according to the result of the vehicle lane change recognition; and executing corresponding control strategy operations on the vehicle according to the collision risk of the vehicle. Advanced sensor technologies (such as ultrasonic radar, camera, laser radar, etc.) are used to obtain information about surrounding vehicles in real time, including vehicle distance, vehicle speed and position. Combined with the dynamic changes of the rear vehicle (such as acceleration and deceleration), the lane change risk is comprehensively judged. This requires the system to have the ability to respond quickly and analyze accurately. Based on the above information, the system can intelligently determine whether it is safe to change lanes, or remind the driver to stop changing lanes when necessary to ensure driving safety. The present application aims to solve the problem of being rear-ended by a rear vehicle during a lane change due to inattentive observation or blurred vision in the rearview mirror. By obtaining different vehicle distance information, vehicle speed information, position information, etc. to comprehensively evaluate the rear-end collision risk, the vehicle can execute corresponding control strategy operations. This method will significantly improve driving safety, reduce rear-end collisions caused by improper lane changes, improve driving efficiency, and provide drivers with a more comfortable and convenient driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0044] Figure 1 1 is a flow chart of a first embodiment of a control method for preventing a rear-end vehicle from rear-ending a vehicle during a vehicle lane change process proposed in an embodiment of the present application;

[0045] Figure 2 A flow chart of a second embodiment of a control method for preventing a rear-end vehicle from rear-ending a vehicle during a vehicle lane change process proposed in an embodiment of the present application;

[0046] Figure 3 A flow chart of a third embodiment of a control method for preventing a rear-end vehicle from rear-ending a vehicle during a vehicle lane change process proposed in an embodiment of the present application;

[0047] Figure 4 This is a flow chart of a fourth embodiment of a control method for preventing a rear-end vehicle from rear-ending a vehicle during a lane change process proposed in an embodiment of the present application.

[0048] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] The intelligent lane change assistance system will combine advanced sensor technology, artificial intelligence algorithms and vehicle dynamics models to achieve real-time and dynamic lane change risk assessment and decision support. Using multiple sensors such as ultrasonic radar, camera, laser radar, etc., real-time information about the vehicle's surrounding environment is obtained, including the distance, speed, direction, etc. of the following vehicle. Ultrasonic radar is used to detect the distance, speed and relative position of the following vehicle. The camera captures images around the vehicle, including lane lines, traffic signs, following vehicles and other obstacles. Laser radar provides high-precision three-dimensional environmental data, including the shape, position and speed of objects. Preliminary processing of data from different sensors, such as denoising, calibration and synchronization. Convert data into a unified format for subsequent fusion and analysis. Use fusion algorithms to integrate data from different sensors to improve data accuracy and reliability. Reduce false positives and false negatives through algorithms to provide more comprehensive environmental perception. Establish a risk assessment model based on vehicle dynamic characteristics (such as acceleration, deceleration, steering angle, etc.).

[0053] The risk assessment model is trained and optimized through machine learning algorithms. The model is continuously updated using historical data and real-time data to improve the accuracy and adaptability of predictions. Based on the fused sensor data, the risk of lane change is evaluated in real time. Possible collisions or dangerous situations during lane change are predicted. The risk assessment model is continuously learned and optimized through machine learning algorithms to improve the accuracy of predictions. The driver's driving behavior and intentions, such as steering wheel turning, braking and acceleration operations, are identified using cameras and sensors. The prompts and decisions of the assistance system are intelligently adjusted according to the driver's behavior and style to improve the adaptability and user experience of the system. The precise position of the vehicle on the road is obtained in real time using high-precision maps and positioning technology. The accuracy of lane change decisions is improved by combining road information such as lane lines and traffic signs. Real-time communication between vehicles and sharing of driving information is achieved through Internet of Vehicles technology. The coordination and safety of vehicles in complex traffic environments are improved by using collaborative driving strategies. The precise position of the vehicle on the road is obtained using high-precision map data. Map data includes detailed information such as lane lines, traffic signs, and road curvature. Real-time positioning of the vehicle is achieved by combining GPS, inertial navigation systems, and map matching technology. Improve the positioning accuracy and reliability of the vehicle on the road. For example, if an obstacle or traffic jam is detected ahead, the system may suggest avoiding lane changes. Use road information from high-precision maps to improve the accuracy of lane change decisions.

[0054] Changing lanes is a common operation during driving, but it is also a link where accidents frequently occur. Due to the driver's careless observation, blurred vision in the rearview mirror, misjudgment and other reasons, accidents of being rear-ended by the vehicle behind during lane change often occur. In order to reduce this risk, modern vehicles have begun to be equipped with advanced assisted driving systems, which include anti-rear-end collision control methods during vehicle lane change. In response to these problems, this application proposes a control method for preventing rear-end collisions of vehicles behind during vehicle lane change in the first embodiment, please refer to Figure 1 , the method comprises steps S10 to S30:

[0055] Step S10, identifying the vehicle entering the pre-turn lane according to vehicle lane change detection;

[0056] Step S20, evaluating the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle;

[0057] Step S30: Based on the collision risk between the vehicle and the following vehicle, an active rear-end collision avoidance control operation is performed on the vehicle.

[0058] It should be noted that in this embodiment, in order to reduce the risk of rear-end collision, modern vehicles are beginning to be equipped with advanced driver assistance systems, which include a control method for preventing rear-end collision during the vehicle's lane change process. The following is a detailed description of the control method for preventing rear-end collision during the vehicle's lane change process:

[0059] Step S10: The triggering of the vehicle lane change detection is usually achieved in a variety of ways, including but not limited to:

[0060] The driver triggers lane change detection by turning the steering wheel or turning on the lane change indicator (turn signal).

[0061] The sensors on the vehicle (such as cameras, lidar, ultrasonic radar, etc.) detect changes in lane lines or the dynamics of surrounding vehicles and automatically trigger lane change detection.

[0062] In the autonomous driving mode, the system automatically detects lane changes based on road information and traffic rules. After the lane change detection is triggered, the system needs to identify the vehicle entering the pre-steering lane.

[0063] By using the vehicle's onboard cameras, lidar, ultrasonic radar and other sensors, information about the vehicle's surroundings can be obtained in real time. The images captured by the camera are processed to identify lane lines, traffic signs, rear vehicles and other obstacles. Using image processing algorithms, target detection and tracking of rear vehicles are performed to obtain information such as the distance, speed, and direction of the rear vehicle. Based on the data obtained by the camera and lidar, the lane where the current vehicle is located and the pre-turn lane are identified. Through image processing and machine learning algorithms, vehicles entering the pre-turn lane are identified and classified (such as cars, trucks, motorcycles, etc.). In order to improve the accuracy and reliability of recognition, the system needs to fuse and verify data from different sensors.

[0064] De-noise, calibrate and synchronize data from different sensors to ensure data accuracy and consistency. Use fusion algorithms to integrate data from different sensors to improve data accuracy and reliability. Compare data from different sensors to verify data accuracy and completeness and reduce false positives and false negatives.

[0065] Step S20, after identifying the vehicle entering the pre-turn lane, the system needs to evaluate the collision risk between the vehicle and the following vehicle. This step usually establishes a risk assessment model based on the vehicle's dynamic characteristics (such as acceleration, deceleration, steering angle, etc.). The risk assessment model is usually related to the vehicle's motion state, such as the speed, acceleration, deceleration, steering angle, etc. of the current vehicle and the following vehicle.

[0066] Distance between vehicles: The distance between the current vehicle and the vehicle behind, acquired in real time through sensor data. Relative speed: The relative speed between the current vehicle and the vehicle behind, used to determine whether the vehicle behind is approaching or moving away.

[0067] Road conditions: including lane width, road curvature, road surface conditions, etc. These factors may affect the vehicle's handling and stability.

[0068] Traffic environment: including the dynamics of surrounding vehicles, traffic flow, traffic signals, etc. These factors may affect the vehicle's driving trajectory and speed.

[0069] In order to improve the accuracy of risk assessment, the system usually uses algorithms such as machine learning algorithms to train and optimize the risk assessment model. This step usually involves collecting historical data and real-time data, including information such as vehicle motion status, vehicle distance, relative speed, road conditions, and traffic environment. The risk assessment model is trained using machine learning algorithms (such as support vector machines, neural networks, decision trees, etc.) so that it can accurately predict collision risks. By continuously adjusting the parameters and structure of the model, the prediction performance of the model is optimized to improve the accuracy and adaptability of the prediction. The model is continuously updated using real-time data so that it can adapt to different roads and traffic environments. According to the results of the risk assessment model, the system can divide the collision risk into different levels, such as low risk, medium risk, and high risk. Different levels of risk correspond to different control measures and prompt methods. At the same time, the collision risk assessment needs to be carried out in real time so that the system can take control measures in time. Therefore, the system needs to have efficient data processing capabilities and fast decision-making response speed.

[0070] Step S30: According to the collision risk level, the system needs to formulate corresponding control strategies to actively avoid rear-end collision risks. Control strategies usually include the following:

[0071] Early warning: When the risk of collision is low, the system will send early warning prompts to the driver through sound, light, etc., reminding the driver to pay attention to the dynamics of the vehicle behind.

[0072] Auxiliary braking: When the risk of collision is high, the system can automatically trigger the auxiliary braking function to slow down the vehicle and reduce the possibility of collision.

[0073] Lane Keeping: When the risk of collision is extremely high, the system can force the vehicle to stay in the current lane and prohibit lane changing to avoid rear-end collisions.

[0074] Collaborative driving: In a connected vehicle environment, the system can communicate with surrounding vehicles in real time, share driving information, and use collaborative driving strategies to improve the coordination and safety of vehicles in complex traffic environments.

[0075] After formulating the control strategy, the system needs to perform the corresponding control operation. According to the control strategy, the system generates the corresponding control instructions, such as braking instructions, steering instructions, etc. The system sends the control instructions to the vehicle's actuators (such as braking system, steering system, etc.) to control the vehicle's motion state. In the process of executing the control operation, the system needs to monitor the vehicle's motion state and the dynamic changes of the following vehicle in real time, and adjust the control strategy and control instructions according to the actual situation. In the process of actively avoiding rear-end collisions, the system needs to fully consider the driver's intervention and feedback. When the system detects that the driver has taken countermeasures (such as braking, steering, etc.), the system can automatically exit the control mode and hand over control to the driver. When the system performs a control operation, it can issue prompts to the driver through sound, light, etc. to inform the driver of the control measures being taken by the system. The system can receive feedback from the driver, such as satisfaction with the control effect and clarity of the system prompts, to optimize the system's control strategy and user experience. In the Internet of Vehicles environment, the system can make full use of collaborative driving technology to improve the safety and coordination of vehicles in complex traffic environments.

[0076] In particular, it is necessary to use Internet of Vehicles technology to achieve real-time communication between vehicles, share driving information (such as location, speed, direction, etc.), and improve the coordination and safety between vehicles. Use high-precision map data to obtain the precise position of the vehicle on the road, and combine road information (such as lane lines, traffic signs, etc.) to improve the accuracy of lane change decisions. According to the communication information and road information between vehicles, formulate collaborative driving strategies, such as collaborative lane change and collaborative braking, to improve the safety and coordination of vehicles in complex traffic environments. Monitor the operating status and sensor data of the system in real time, detect and diagnose faults in time, and avoid the impact of faults on system performance. In the Internet of Vehicles environment, strengthen data security and privacy protection to prevent data leakage and abuse. Regularly upgrade and maintain the system to ensure that the performance and security of the system meet the latest standards and requirements.

[0077] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 In this embodiment, the step of identifying the vehicle entering the pre-turn lane according to the vehicle lane change detection further includes:

[0078] Step S11, detecting whether the front of the vehicle is on the road guide line, and calculating the angle between the vehicle and the lane guide line.

[0079] Step S12, when the visual module of the vehicle detects that the front of the vehicle is pressing on the road guide line, the angle between the vehicle and the lane guide line reaches a preset angle value, and the lateral driving direction of the vehicle is consistent with the direction of the road guide line, the lane change operation of the vehicle is identified.

[0080] Specifically, in this embodiment, regarding the detailed steps of vehicle lane change detection, especially when identifying a vehicle entering a pre-turn lane, the detection of the relationship between the vehicle head and the road guide line and the process of calculating the angle between the vehicle and the lane guide line are added. The following is a detailed description of steps S11 and S12:

[0081] Step S11, detect whether the front of the vehicle is pressed on the road guide line, and calculate the angle between the vehicle and the lane guide line. Use a camera installed on the vehicle (usually a front-view camera) to capture the image of the road ahead. The image captured by the camera should include sufficient field of view to clearly display the lane line and the road guide line (such as dotted lines, solid lines, arrows, etc.). The captured image is preprocessed, including denoising, contrast enhancement, etc., to improve the image quality. Use image processing algorithms (such as edge detection, Hough transform, etc.) to identify the lane line and the road guide line. In the processed image, the visual module of the vehicle itself (such as a camera and an image processing algorithm) is used to identify the front part of the vehicle. The precise position of the front part of the vehicle is determined by the features of the front part (such as the front bumper, lights, etc.). Compare the position of the front of the vehicle with the position of the identified road guide line to determine whether the front of the vehicle is pressed on the road guide line. If the front of the vehicle coincides with or is very close to the road guide line (within a certain threshold), it is considered that the front of the vehicle is pressed on the road guide line.

[0082] Based on the identified lane guide line, its direction vector is determined. This is usually achieved by calculating the slope of multiple points on the lane guide line. The current direction of the vehicle is determined using sensors installed on the vehicle (such as steering wheel angle sensor, vehicle speed sensor, etc.) and image processing algorithms. The direction vector of the vehicle's motion trajectory can also be calculated through continuously captured image frames. The angle between the vehicle's direction of travel and the direction of the lane guide line is calculated using the vector angle formula. The angle value can represent the relative direction relationship between the vehicle and the lane guide line.

[0083] Step S12, confirm that the front of the vehicle detected by the vehicle vision module is indeed on the road guide line. Check whether the calculated angle between the vehicle and the lane guide line reaches a preset angle value. This preset value is usually determined based on factors such as road design, traffic rules, and vehicle handling performance. Determine whether the lateral driving direction of the vehicle is consistent with the direction of the road guide line. This can be achieved by comparing the direction of the vehicle driving direction vector with the direction vector of the lane guide line.

[0084] If the two directions are the same or very close (within a certain threshold), the lateral driving direction of the vehicle is considered to be consistent with the direction of the road guide line. When the above three conditions are met at the same time, that is, the front of the vehicle is pressed on the road guide line, the angle reaches the preset value, and the lateral driving direction is consistent with the road guide line, the system can determine that the vehicle is changing lanes. The system sends a confirmation signal to the driver or the automatic driving system, indicating that the lane change operation has been detected. At the same time, the system can prepare to perform subsequent collision risk assessment and control operations. The system should be able to adapt to different road conditions and traffic environments, such as lanes of different widths, different road guide line styles, etc. The system should ensure the accuracy and reliability of detection to avoid misjudgment and missed judgment. The system should be able to detect and process image data in real time so as to timely identify lane change operations and take corresponding control measures. When identifying lane change operations, the system should fully consider safety factors to avoid unnecessary interference or danger to the driver or surrounding vehicles.

[0085] Based on the first embodiment and / or the second embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those of the above-mentioned first and second embodiments can refer to the above introduction, and will not be repeated later. Figure 3 In this embodiment, step S20, the step of evaluating the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle, further includes:

[0086] Step S21, acquiring a relative speed between the vehicle and the rear vehicle on the pre-turn lane according to the longitudinal speed of the vehicle and the speed of the rear vehicle on the pre-turn lane;

[0087] Step S22, calculating the time of the risk of collision between the vehicle and the rear vehicle on the pre-turn lane according to the relative speed and distance between the vehicle and the rear vehicle on the pre-turn lane;

[0088] Step S23, calculating a derivative value of the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane according to the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane;

[0089] Step S24, evaluating whether there is a collision risk between the vehicle and the rear vehicle on the pre-turn lane according to the time when the collision risk between the vehicle and the rear vehicle on the pre-turn lane occurs and the derivative value.

[0090] It should be noted that in this embodiment, the risk of collision between the vehicle and the following vehicle is assessed based on the lane change recognition result of the vehicle. During the lane change process of the vehicle, it is crucial to assess the risk of collision with the following vehicle. This requires the system to be able to acquire and process the relative speed and distance data between the vehicle and the following vehicle in real time, and then calculate the time to collision risk (TTC, Time to Collision) and its derivative value to accurately assess the risk of collision. The following is a detailed description of the above steps:

[0091] Step S21: Obtain the relative speed between the vehicle and the following vehicle. Obtain the longitudinal speed of the current vehicle through the vehicle's own sensors (such as speed sensors, radars, lidars, etc.). Using sensors such as on-board radars, lidars or cameras, combined with image processing and object tracking algorithms, identify and obtain the speed of the following vehicle in the pre-steering lane. In some advanced autonomous driving systems, the speed information of the following vehicle can also be obtained through vehicle networking communication. Relative speed refers to the speed difference between the current vehicle and the following vehicle. The positive or negative relative speed indicates the relative movement trend between the current vehicle and the following vehicle.

[0092] Step S22: Calculate the time of collision risk, using on-board sensors (such as radar, lidar or camera) to measure the actual distance between the current vehicle and the following vehicle. This usually involves processing images or radar signals to identify and track the position of the following vehicle. TTC refers to the time required for the two vehicles to collide while keeping the current speed and relative speed unchanged. The smaller the TTC value, the higher the collision risk between the two vehicles; conversely, the larger the TTC value, the lower the collision risk between the two vehicles.

[0093] Step S23: Calculate the derivative value of TTC (i.e., the rate of change of TTC), and continuously obtain the speed data of the current vehicle and the following vehicle to calculate their speed change rates. This can be achieved by differentiating the speed data. Differentiate the speed data of the current vehicle and the following vehicle to obtain their respective speed change rates. This represents the instantaneous change in vehicle speed, i.e., acceleration. The rate of change of TTC represents the changing trend of TTC over time. The rate of change of TTC reflects the dynamic changes in collision risk. If the rate of change of TTC is negative, it means that TTC is decreasing, i.e., the risk of collision is increasing; if the rate of change of TTC is positive, it means that TTC is increasing, i.e., the risk of collision is decreasing.

[0094] Step S24: Evaluate whether there is a risk of collision between the vehicle and the vehicle behind, and set thresholds for TTC and TTC change rate according to safety standards and road conditions. These thresholds are used to determine whether the risk of collision between the current vehicle and the vehicle behind is acceptable. Compare the calculated TTC and TTC change rate with the set thresholds. If the TTC is less than a certain threshold (indicating that the two vehicles will collide in a very short time), or the TTC change rate is less than a negative threshold (indicating that the TTC is rapidly decreasing, that is, the risk of collision is rapidly increasing), it is determined that there is a risk of collision. If the assessment result is that there is a risk of collision, the vehicle can send a warning signal, adjust the speed, change lanes, or take other measures to avoid a collision. These measures should be determined based on the actual situation and the capabilities of the system.

[0095] In particular, it is necessary to ensure that the speed and distance data obtained from the sensor are accurate and reliable. This requires that the sensor has good accuracy and stability, and the data processing algorithm can accurately identify and track the position and speed of the rear vehicle. The calculation of TTC and TTC change rate needs to be carried out in real time so that timely measures can be taken to avoid collisions. This requires the system to have high-speed data processing capabilities and fast response speed. The evaluation algorithm should be able to adapt to different road conditions, traffic environments and weather conditions. For example, in rainy or foggy days with low visibility, the sensor may not be able to accurately obtain the speed and distance information of the rear vehicle. At this time, the algorithm should be able to take corresponding measures to reduce the false alarm rate. When assessing the risk of collision, the safety and reliability of the algorithm should be ensured. Avoid unnecessary dangers caused by false alarms or missed alarms. At the same time, the algorithm should be able to handle abnormal situations, such as sensor failure or data loss.

[0096] Further, in this embodiment, step 24, the step of evaluating whether there is a collision risk between the vehicle and the following vehicle on the pre-turn lane according to the time and derivative value of the collision risk between the vehicle and the following vehicle on the pre-turn lane, further includes:

[0097] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a first preset threshold interval, determining that there is a first level collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0098] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a second preset threshold interval, determining that there is a second level of collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0099] When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a third preset threshold interval, determining that there is a third level collision risk between the vehicle and the rear vehicle on the pre-steering lane;

[0100] When the risk of collision occurs between the vehicle and the following vehicle and the derivative value is within a fourth preset threshold interval, it is determined that there is no risk of collision between the vehicle and the following vehicle on the pre-steering lane.

[0101] It should be noted that in this embodiment, during the vehicle lane change process, it is crucial to accurately assess the risk of collision with the vehicle behind in the pre-turn lane. This helps the system to issue a warning in time to avoid potential collision accidents. By comprehensively considering the time of the collision risk and its derivative value, we can more comprehensively understand the dynamic changes of the collision risk and make more accurate decisions.

[0102] Determine the first level of collision risk, the time to collision risk (TTC) and the derivative value of this time are both within the first preset threshold interval. The first preset threshold interval is usually set to an interval representing a high risk. When the TTC is short (i.e., a collision is about to occur) and the derivative value of the TTC is also large (i.e., the risk of collision is rapidly increasing), there is a first level of collision risk between the vehicle and the following vehicle on the pre-turn lane. This means that the system needs to take immediate action, such as issuing emergency braking or obstacle avoidance commands, to prevent a collision accident. The system first calculates the TTC between the vehicle and the following vehicle and the derivative value of the TTC.

[0103] Then, the two values ​​are compared with a first preset threshold interval. If both values ​​fall within the interval, the system determines that there is a first level collision risk.

[0104] The setting of the first preset threshold interval needs to comprehensively consider multiple factors, such as vehicle speed, road conditions, traffic flow, etc. When the system issues an emergency command, it should ensure that no additional risks are caused to other road users.

[0105] To determine the second level of collision risk, the time to collision risk (TTC) and the derivative value of this time are both within the second preset threshold interval. The second preset threshold interval is usually set to an interval representing a medium risk. When the TTC is long but still within an acceptable range, and the derivative value of the TTC is moderate (i.e., the collision risk is slowly increasing or remains stable), there is a second level of collision risk between the vehicle and the following vehicle in the pre-steering lane. This means that the system needs to issue an early warning to remind the driver to pay attention and take appropriate avoidance measures. The system also first calculates the TTC and the derivative value of the TTC between the vehicle and the following vehicle. These two values ​​are then compared with the second preset threshold interval. If both values ​​fall within this interval, the system determines that there is a second level of collision risk. The setting of the second preset threshold interval should ensure the timeliness and accuracy of the early warning. When issuing an early warning, the system should take into account the driver's reaction time and the performance limitations of the vehicle.

[0106] Determine the third level of collision risk, the time to collision risk (TTC) and the derivative value of this time are both within the third preset threshold interval. The third preset threshold interval is usually set to an interval indicating low risk. When the TTC is long and the derivative value of the TTC is small (that is, the collision risk is slowly decreasing or remains stable), there is a third level of collision risk between the vehicle and the following vehicle in the pre-turn lane. This means that the system can issue a milder reminder, or choose not to issue a reminder, allowing the driver to decide based on the current situation. The system calculates the TTC and the derivative value of the TTC between the vehicle and the following vehicle. These two values ​​are compared with the third preset threshold interval. If both values ​​fall within the interval, the system determines that there is a third level of collision risk and issues a reminder as needed. The setting of the third preset threshold interval should ensure that it does not cause too much interference to the driver. When issuing a reminder, the system should take into account the driver's driving habits and preferences.

[0107] It is determined that there is no risk of collision, and the time to collision risk (TTC) and the derivative value of this time are both within a fourth preset threshold interval. The fourth preset threshold interval is usually set to an interval indicating no risk. When the TTC is very long and the derivative value of the TTC is close to zero (that is, the risk of collision is almost non-existent or is decreasing rapidly), there is no risk of collision between the vehicle and the following vehicle on the pre-turn lane. This means that the system can remain silent and not issue any reminders or instructions. The system calculates the TTC between the vehicle and the following vehicle and the derivative value of the TTC. These two values ​​are compared with the fourth preset threshold interval.

[0108] If both values ​​fall within the interval, the system determines that there is no risk of collision. The fourth preset threshold interval should be set to ensure the stability and reliability of the system. When the system remains silent, it should continue to monitor the road conditions so that prompt reminders or instructions can be issued in a timely manner when necessary.

[0109] Based on the first embodiment and / or the second embodiment and / or the third embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those of the above-mentioned first embodiment, second embodiment and third embodiment can refer to the above introduction and will not be repeated later. Figure 4 In this embodiment, step S30, the step of performing a control operation of actively avoiding rear-end collision on the vehicle according to the collision risk between the vehicle and the following vehicle, further includes:

[0110] Step S31, when it is determined that there is a first level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing a control operation of stopping lane change on the vehicle;

[0111] Step S32, when it is determined that there is a second-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing a braking lane change control operation on the vehicle;

[0112] Step S33, when it is determined that there is a third-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing an acceleration lane change control operation on the vehicle;

[0113] Step S34: When it is determined that there is no risk of collision between the vehicle and the following vehicle on the pre-turn lane, a normal lane change control operation is performed on the vehicle.

[0114] Specifically, in this embodiment, step S30 is a crucial link. According to the collision risk level between the vehicle and the rear vehicle on the pre-steering lane, corresponding control operations are performed on the vehicle to ensure driving safety. The core task is to evaluate the collision risk between the vehicle and the rear vehicle on the pre-steering lane, and perform corresponding control operations according to the risk level. This includes operations such as stopping lane change, braking lane change, accelerating lane change and normal lane change. These operations are intended to avoid potential rear-end collisions and improve road safety and driving comfort. The following is a detailed description of step S30 and its sub-steps S31, S32, S33 and S34:

[0115] Step S31, stop changing lanes. When there is a first-level collision risk between the vehicle and the vehicle behind it in the pre-turn lane, that is, the collision risk is extremely high, and immediate measures need to be taken to avoid an accident. The system immediately sends a command to the vehicle to stop changing lanes. After receiving the command, the vehicle immediately stops changing lanes and keeps driving in the current lane. At the same time, the system may also need to issue an emergency warning to the driver to remind him to pay attention to driving safety. When executing the stop lane change operation, the system should ensure that the vehicle can stop smoothly in the current lane to avoid sudden changes in direction or emergency braking. The system also needs to continuously monitor road conditions so that further risk avoidance measures can be taken when necessary.

[0116] Step S32, braking and changing lanes. When there is a second-level collision risk between the vehicle and the vehicle behind on the pre-steering lane, that is, the collision risk is high, but there is still enough time and space to take measures to avoid an accident. The system sends a braking and lane-changing instruction to the vehicle. After receiving the instruction, the vehicle first decelerates and brakes to reduce the relative speed with the vehicle behind. While braking, the vehicle gradually turns to the pre-steering lane to ensure that the lane change is completed smoothly during the deceleration process. After completing the lane change, the vehicle continues to travel at a lower speed for a distance to ensure a safe distance from the vehicle behind. When performing the braking and lane-changing operation, the system should ensure that the braking performance and steering performance of the vehicle are in good condition. At the same time, the system also needs to consider the driver's reaction time and the performance limitations of the vehicle to ensure the feasibility and safety of the operation.

[0117] Step S33, accelerated lane change. When there is a third-level collision risk between the vehicle and the vehicle behind on the pre-steering lane, that is, the collision risk is low, but certain measures still need to be taken to ensure safety. The system sends an accelerated lane change instruction to the vehicle. After receiving the instruction, the vehicle first accelerates slightly to increase the relative distance from the vehicle behind. While accelerating, the vehicle gradually turns to the pre-steering lane to ensure that the lane change is completed smoothly during the acceleration process. After completing the lane change, the vehicle continues to travel at an appropriate speed. When performing an accelerated lane change operation, the system should ensure that the acceleration performance and steering performance of the vehicle are in good condition. At the same time, the system also needs to consider factors such as road conditions and traffic flow to ensure that the accelerated lane change operation does not cause additional risks to other road users.

[0118] Step S34, normal lane change. When there is no risk of collision between the vehicle and the vehicle behind on the pre-turn lane, that is, the road conditions are good, the traffic flow is moderate, and the vehicle maintains a sufficient safety distance from the vehicle behind. The system sends a normal lane change instruction to the vehicle. After receiving the instruction, the vehicle performs a smooth lane change operation according to the preset lane change trajectory and speed. During the lane change process, the system continuously monitors the road conditions and vehicle status to ensure the safety and stability of the lane change operation. When performing normal lane change operations, the system should ensure that the steering performance and stability of the vehicle are in good condition. At the same time, the system also needs to consider the driver's driving habits and preferences, as well as changes in road and traffic conditions to provide a personalized lane change experience.

[0119] It should be noted in particular that the system should be able to quickly and accurately assess the risk of collision and immediately perform corresponding control operations when necessary. This requires the system to have efficient data processing capabilities and fast decision-making capabilities. The braking performance, acceleration performance and steering performance of the vehicle are all key factors affecting the execution effect of step S30. Therefore, the system needs to regularly detect and maintain the performance of the vehicle to ensure that it is in good condition. Although the system can automatically assess the risk of collision and perform corresponding control operations, the driver's participation is still essential. The system should provide a clear and intuitive interface and prompt information so that the driver can understand the road conditions and system status in a timely manner and respond accordingly. Road conditions, traffic flow, weather and other factors will affect the execution effect of step S30. Therefore, the system needs to comprehensively consider these factors and dynamically adjust and optimize according to actual conditions.

[0120] Furthermore, in this embodiment, the method further includes: when the vehicle performs a control operation of stopping lane change, the vehicle performs a process of rejecting lane change and performs a voice reminder;

[0121] When the vehicle performs a braking lane change control operation, the vehicle performs active braking and issues a voice warning;

[0122] When the vehicle performs an acceleration lane change control operation, the vehicle performs active acceleration processing and issues a voice reminder;

[0123] When the vehicle performs a normal lane change control operation, the vehicle does not actively process and issue a voice reminder.

[0124] Specifically, in this embodiment, in addition to the basic collision risk assessment and corresponding control operations in the vehicle lane change assistance system or the automatic driving system, the specific processing method and voice reminder mechanism under each control operation can be further refined. The following is a detailed description of these steps:

[0125] When the system determines that there is a first-level collision risk between the vehicle and the vehicle behind it in the pre-steering lane, it will execute the control operation of stopping the lane change. The vehicle immediately stops the current lane change action and keeps driving in the current lane. At this time, the vehicle's steering system will be locked to prevent the vehicle from continuing to deviate to the pre-steering lane. The system sends a voice reminder to the driver through the vehicle's audio system, clearly stating that "the risk of collision ahead is high, lane change has been stopped, please stay in the current lane." This reminder helps to enhance the driver's safety awareness and make him understand the current system status.

[0126] When the system determines that there is a second-level collision risk between the vehicle and the vehicle behind it in the pre-turn lane, the braking lane change control operation will be performed. The vehicle will first decelerate and brake to reduce the relative speed with the vehicle behind it. This action is achieved through the vehicle's braking system and is intended to reduce the possibility of a collision. While braking, the system issues a voice warning to the driver through the audio system, stating that "there is a risk of collision ahead, braking and changing lanes, please stay alert." This warning helps remind the driver to pay attention to road conditions and be prepared to respond.

[0127] When the system determines that there is a third-level collision risk between the vehicle and the vehicle behind it in the pre-steering lane, it will perform an accelerated lane change control operation. The vehicle will accelerate slightly to increase the relative distance between it and the vehicle behind it. This action is achieved through the vehicle's acceleration system to create more space and time for lane change operations. While accelerating, the system sends a voice reminder to the driver through the audio system, pointing out that "there is a collision risk ahead, and the lane change is accelerating. Please keep the direction stable." This reminder helps the driver understand the system's operating intentions and guides them to cooperate with the system's actions.

[0128] When the system determines that there is no risk of collision between the vehicle and the vehicle behind it in the pre-steering lane, it will perform normal lane change control operations and the system will not actively perform evasive processing. In the case of normal lane change, the vehicle will perform a smooth lane change operation according to the preset lane change trajectory and speed. At this time, the system does not need to perform additional active processing on the vehicle. Although the system does not perform active processing, it will still issue a voice reminder to the driver through the audio system, indicating that "the current road conditions are good and the lane change is normal." This reminder helps to enhance the driver's driving confidence and make him understand the operating status of the system. When performing the above steps, the system needs to take into account multiple factors, including collision risk level, vehicle performance, driver participation, and road and traffic conditions. At the same time, the system also needs to ensure the accuracy and timeliness of voice reminders and warnings so that the driver can understand the road conditions and system status in a timely manner and respond accordingly.

[0129] In addition, the system needs to have a high degree of reliability and stability to ensure that it can accurately assess the risk of collision and perform corresponding control operations under various complex road and traffic conditions. This requires the system to have efficient data processing capabilities and fast decision-making capabilities, as well as a complete fault detection and recovery mechanism.

[0130] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A control method for preventing a rear-end collision during a vehicle lane change, characterized in that: The method comprises the following steps: identifying the vehicle entering the pre-turn lane according to vehicle lane change detection; assessing the collision risk between the vehicle and a following vehicle according to a result of lane change recognition of the vehicle; According to the collision risk between the vehicle and the following vehicle, a control operation to actively avoid rear-end collision is performed on the vehicle.

2. The method according to claim 1, characterized in that The step of identifying the vehicle entering the pre-steering lane according to the vehicle lane change detection further includes: Detecting whether the front of the vehicle is on the road guide line, and calculating the angle between the vehicle and the lane guide line; When the vision module of the vehicle detects that the front of the vehicle is pressing on the road guide line, the angle between the vehicle and the lane guide line reaches a preset angle value, and the lateral driving direction of the vehicle is consistent with the direction of the road guide line, the lane change operation of the vehicle is identified.

3. The method according to claim 2, characterized in that The step of evaluating the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle further includes: Acquire a relative speed between the vehicle and the rear vehicle on the pre-turn lane according to the longitudinal speed of the vehicle and the speed of the rear vehicle on the pre-turn lane; Calculating the time of collision risk between the vehicle and the rear vehicle on the pre-turn lane according to the relative speed and distance between the vehicle and the rear vehicle on the pre-turn lane; Calculating a derivative value of the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane according to the time when the risk of collision occurs between the vehicle and the rear vehicle on the pre-turn lane; According to the time when the risk of collision between the vehicle and the rear vehicle on the pre-turn lane occurs and the derivative value, it is evaluated whether there is a risk of collision between the vehicle and the rear vehicle on the pre-turn lane.

4. The method according to claim 3, characterized in that The step of evaluating whether there is a collision risk between the vehicle and the rear vehicle on the pre-steering lane according to the time and derivative value of the collision risk between the vehicle and the rear vehicle on the pre-steering lane further includes: When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a first preset threshold interval, determining that there is a first level collision risk between the vehicle and the rear vehicle on the pre-steering lane; When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a second preset threshold interval, determining that there is a second level of collision risk between the vehicle and the rear vehicle on the pre-steering lane; When the risk of collision between the vehicle and the rear vehicle occurs and the derivative value is within a third preset threshold interval, determining that there is a third level collision risk between the vehicle and the rear vehicle on the pre-steering lane; When the risk of collision occurs between the vehicle and the following vehicle and the derivative value is within a fourth preset threshold interval, it is determined that there is no risk of collision between the vehicle and the following vehicle on the pre-steering lane.

5. The method according to claim 4, characterized in that The step of performing a control operation for actively avoiding rear-end collision on the vehicle according to the collision risk between the vehicle and the following vehicle further includes: When it is determined that there is a first level collision risk between the vehicle and a rear vehicle on the pre-turn lane, performing a control operation of stopping lane change on the vehicle; When it is determined that there is a second-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing a braking lane change control operation on the vehicle; When it is determined that there is a third-level collision risk between the vehicle and the rear vehicle on the pre-turn lane, performing an acceleration lane change control operation on the vehicle; When it is determined that there is no collision risk between the vehicle and the following vehicle on the pre-turn lane, a normal lane change control operation is performed on the vehicle.

6. The method according to claim 1, characterized in that Before the step of identifying the vehicle entering the pre-turn lane according to the vehicle lane change detection, the method further includes: Detecting the operating status of the vehicle; When the working state of the vehicle is in a working state without fault indication, the step of identifying the vehicle entering the pre-turn lane according to the vehicle lane change detection is performed.

7. The method according to claim 5, characterized in that The method further comprises: When the vehicle performs a control operation of stopping lane change, the vehicle performs a process of refusing lane change and performs a voice reminder; When the vehicle performs a braking lane change control operation, the vehicle performs active braking and issues a voice warning; When the vehicle performs an acceleration lane change control operation, the vehicle performs active acceleration processing and issues a voice reminder; When the vehicle performs a normal lane change control operation, the vehicle does not actively process and issue a voice reminder.

8. A control device for preventing a vehicle from rear-ending a vehicle during a vehicle lane change, characterized in that: The device comprises: a lane change recognition module, a risk assessment module and a vehicle control module; A lane change recognition module, which recognizes the vehicle entering the pre-turn lane based on the vehicle lane change detection; a risk assessment module, which assesses the collision risk between the vehicle and a following vehicle according to the result of the lane change recognition of the vehicle; The vehicle control module performs active control operations to avoid rear-end collision on the vehicle according to the collision risk between the vehicle and the following vehicle.

9. A control device for preventing a vehicle from rear-ending a vehicle during a vehicle lane change, characterized in that: The control device for preventing rear-end collision of a rear vehicle during the vehicle's lane change process comprises: a memory, a processor, and a control processing program for preventing rear-end collision of a rear vehicle during the vehicle's lane change process stored in the memory and executable on the processor. When the control processing program for preventing rear-end collision of a rear vehicle during the vehicle's lane change process is executed by the processor, the steps of the control method for preventing rear-end collision of a rear vehicle during the vehicle's lane change process as claimed in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a control program for preventing a rear-end collision of a rear vehicle during a vehicle lane change. When the control program for preventing a rear-end collision of a rear vehicle during a vehicle lane change is executed by a processor, the steps of the control method for preventing a rear-end collision of a rear vehicle during a vehicle lane change as described in any one of claims 1 to 7 are implemented.

Images