Vehicle lane changing early warning method and device, vehicle and readable storage medium

Abstract

The invention relates to a vehicle lane changing early warning method and device, a vehicle and a readable storage medium. The method comprises the steps of determining a current distance and a distance change trend between a running target vehicle and a reference vehicle corresponding to the target vehicle at a current moment; wherein the reference vehicle is a vehicle running behind the target vehicle; according to the current distance and the distance change trend, determining a corresponding lane changing risk level of the target vehicle at the current moment; and according to the lane changing risk level, performing lane changing early warning on the target vehicle. By adopting the method, the accuracy of vehicle lane change early warning can be improved.

Description

Technical Field

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

[0002] With the continuous development of intelligent driving vehicle technology, more and more vehicles are put into the market. With more and more vehicles, in order to improve the safety of vehicles during driving, the lane change warning system is born. The system aims to avoid safety accidents caused by the driver's visual blind spots during lane change and improve driving safety.

[0003] However, the lane change warning system in traditional technology only uses the current distance between the target vehicle and its surrounding vehicles as a reference for lane change warning. The lane change warning is not accurate and needs to be solved urgently. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle lane change warning method, device, vehicle and readable storage medium that can improve the accuracy of vehicle lane change warning in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle lane change warning method, comprising:

[0006] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0007] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0008] According to the lane change risk level, the target vehicle is given a lane change warning.

[0009] In one embodiment, determining the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend includes:

[0010] According to the relationship between the current distance between the target vehicle and the reference vehicle and the preset safety distance, the lane change risk category corresponding to the target vehicle at the current moment is determined; wherein the lane change risk category includes a risk category and a non-risk category;

[0011] When the lane change risk category is a risky category, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the distance change trend.

[0012] In one embodiment, when the lane change risk category is a risky category, determining the lane change risk level corresponding to the target vehicle at the current moment according to the distance change trend includes:

[0013] When the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; the driving parameters include driving speed and / or driving acceleration;

[0014] When the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is getting longer, determining that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level;

[0015] Among them, the lane change risk level includes a first risk level and a second risk level; the second risk level is higher than the first risk level.

[0016] In one embodiment, if the driving parameters include driving speed and driving acceleration, determining the lane change risk level corresponding to the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle includes:

[0017] When the driving speed of the target vehicle is not less than the driving speed of the reference vehicle, and the driving acceleration of the target vehicle is not less than the driving acceleration of the reference vehicle, determining that the lane change risk level corresponding to the target vehicle at the current moment is the first risk level;

[0018] When the driving speed of the target vehicle is lower than the driving speed of the reference vehicle, or the driving acceleration of the target vehicle is lower than the driving acceleration of the reference vehicle, it is determined that the lane change risk level corresponding to the target vehicle at the current moment is the second risk level.

[0019] In one embodiment, if the reference vehicle and the target vehicle are in the same lane, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle, including:

[0020] In the case where the reference vehicle has a lane change intention at the current moment, determining the lane change risk level of the target vehicle in the first target lane at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle;

[0021] Among them, the first target lane is the lane corresponding to the lane change intention.

[0022] In one embodiment, if the reference vehicle and the target vehicle are in different lanes, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle, including:

[0023] Determining a lane change risk level of the target vehicle in the second target lane at the current moment according to a magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle;

[0024] The second target lane is the lane where the reference vehicle is currently located.

[0025] In one embodiment, determining the current distance and the distance change trend between the moving target vehicle and the reference vehicle corresponding to the target vehicle at the current moment includes:

[0026] Process the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment;

[0027] Accordingly, according to the lane change risk level, the target vehicle is given a lane change warning, including:

[0028] According to the lane change risk level, determine the corresponding target warning method at the current moment;

[0029] Control the electronic rearview mirror and issue lane change warnings to target vehicles based on the target warning method.

[0030] In a second aspect, the present application also provides a vehicle lane change warning device, comprising:

[0031] A change trend determination module is used to determine the current distance and distance change trend between the target vehicle in motion and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle traveling behind the target vehicle;

[0032] The risk level determination module is used to determine the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend;

[0033] The lane change warning module is used to provide lane change warning to the target vehicle according to the lane change risk level.

[0034] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0035] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0036] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0037] According to the lane change risk level, the target vehicle is given a lane change warning.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0039] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0040] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0041] According to the lane change risk level, the target vehicle is given a lane change warning.

[0042] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0043] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0044] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0045] According to the lane change risk level, the target vehicle is given a lane change warning.

[0046] The above-mentioned vehicle lane change warning method, device, vehicle and readable storage medium, when the target vehicle is in a driving state, determine the current distance and distance change trend between the target vehicle and the reference vehicle corresponding to the target vehicle at the current moment, and determine the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and distance change trend, and then perform a lane change warning on the target vehicle according to the lane change risk level. In the above process, in the process of determining the lane change risk level, not only the current distance between the target vehicle and the reference vehicle is considered, but also the distance change trend between the target vehicle and the reference vehicle is introduced. Compared with the method of determining the lane change risk level only according to the current distance in the traditional technology, the lane change risk level determined by the present application is more accurate, so that the lane change warning is more accurate, and it can also avoid driving interference to the driving user caused by inaccurate lane change warning, and further improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0048] Figure 1 A schematic diagram of a process of a vehicle lane change warning method in one embodiment;

[0049] Figure 2 A schematic flow chart of a lane change risk level determination step in one embodiment;

[0050] Figure 3A It is a flowchart of a lane change risk level determination step in another embodiment;

[0051] Figure 3B It is a flowchart of a lane change risk level determination step in another embodiment;

[0052] Figure 4A A schematic diagram of a reference vehicle type in one embodiment;

[0053] Figure 4B It is a flowchart of a lane change risk level determination step in another embodiment;

[0054] Figure 4C A schematic diagram of a reference vehicle type in another embodiment;

[0055] Figure 4D It is a flowchart of a lane change risk level determination step in another embodiment;

[0056] Figure 5A A diagram showing an application environment of a vehicle lane change warning method in an embodiment;

[0057] Figure 5B A schematic flow chart of the steps of determining the current distance and the distance change trend in one embodiment;

[0058] Figure 5C is a flowchart of a lane change warning step in one embodiment;

[0059] Figure 6 A schematic diagram of a process flow of a vehicle lane change warning method in another embodiment;

[0060] Figure 7 is a structural block diagram of a vehicle lane change warning device in one embodiment;

[0061] Figure 8FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0063] In one embodiment, Figure 1 As shown, a vehicle lane change warning method is provided. This embodiment uses the method applied to a vehicle controller as an example for illustration. It can be understood that the method can also be applied to a vehicle terminal, and can also be applied to a system including a vehicle controller and a vehicle terminal, and is implemented through the interaction between the vehicle controller and the vehicle terminal. In this embodiment, the method includes the following steps:

[0064] S110, determining the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment.

[0065] The target vehicle may be a vehicle equipped with a lane change warning system; the reference vehicle may be a vehicle traveling behind the target vehicle. For example, the reference vehicle may be a vehicle located directly behind, behind, or to the side of the target vehicle and in a driving state. The present application does not impose any restrictions on the vehicle types of the target vehicle and the reference vehicle. For example, the reference vehicle may be a gasoline vehicle, an electric vehicle, or a gasoline-electric hybrid vehicle.

[0066] It is understandable that the number of reference vehicles corresponding to the target vehicle may be one or more, and this application does not impose any limitation on this.

[0067] The current distance may represent the relative distance between the target vehicle and the reference vehicle at the current moment. The current distance may represent the distance between the front of the target vehicle and the front of the reference vehicle, or may represent the distance between the rear of the target vehicle and the front of the reference vehicle, and this application does not impose any limitation on this. It is understandable that when the current distance is determined in different ways, the corresponding preset safety distance will also be different.

[0068] In an optional implementation, the current distance and the distance change trend between the target vehicle and a reference vehicle corresponding to the target vehicle may be determined based on vehicle-to-vehicle communication (V2V) technology.

[0069] In an optional embodiment, the current position of the reference vehicle corresponding to the target vehicle can be obtained, and the current distance between the target vehicle and the reference vehicle can be determined based on the current position of the target vehicle. For example, the current position of the reference vehicle can be obtained through a vehicle perception sensor (e.g., a camera sensor, or a radar sensor) provided on the body of the target vehicle, or the current position of the reference vehicle can be obtained through a 360-degree image. The current position of the target vehicle is obtained through a global positioning system (GPS), and then the current distance between the target vehicle and the reference vehicle is determined based on their current positions.

[0070] Optionally, the present application may also directly obtain the current distance between the target vehicle and the reference vehicle through a vehicle perception sensor.

[0071] Furthermore, the distance variation trend between the target vehicle and the reference vehicle can be determined by: obtaining the driving parameters of the target vehicle and the reference vehicle at the current moment, and then determining the distance variation trend between the target vehicle and the reference vehicle according to the driving parameters of the target vehicle and the reference vehicle. The driving parameters include driving speed and / or driving acceleration.

[0072] Exemplarily, the driving speed and / or driving acceleration corresponding to the target vehicle at the current moment can be obtained through GPS; the driving speed and / or driving acceleration corresponding to the reference vehicle at the current moment can be obtained through 360-degree images. In the case where the driving parameters include driving speed and driving acceleration, the relative speed between the target vehicle and the reference vehicle is determined based on the driving speed of the target vehicle at the current moment and the driving speed of the reference vehicle at the current moment. Similarly, the relative acceleration between the target vehicle and the reference vehicle is determined based on the driving acceleration of the target vehicle at the current moment and the driving acceleration of the reference vehicle at the current moment.

[0073] Further, the distance variation trend between the target vehicle and the reference vehicle is determined based on the relative speed and / or relative acceleration between the target vehicle and the reference vehicle. Exemplarily, when the relative speed indicates that the speed of the target vehicle is less than the speed of the reference vehicle, or the relative acceleration indicates that the acceleration of the target vehicle is less than the acceleration of the reference vehicle, the distance variation trend between the target vehicle and the reference vehicle is determined to be shortened; otherwise, the distance variation trend between the target vehicle and the reference vehicle is determined to be lengthened.

[0074] Optionally, the present application can also obtain image information of a reference vehicle in consecutive frames through a camera sensor, and determine the relative speed of the target vehicle and the reference vehicle at the current moment based on the change in the distance between the reference vehicle and the target vehicle in each frame and the acquisition frame rate of the camera sensor (the time between two adjacent frames). Then, based on the relative speed of the target vehicle and the reference vehicle at adjacent moments, determine the relative acceleration of the target vehicle and the reference vehicle at the current moment.

[0075] For the sake of comparison, in this application, the relative speed is the difference between the speed of the reference vehicle and the speed of the target vehicle; the relative acceleration is the difference between the acceleration of the reference vehicle and the acceleration of the target vehicle. That is, when the relative speed is greater than 0, the speed of the reference vehicle is greater than the speed of the target vehicle; when the relative acceleration is greater than 0, the acceleration of the reference vehicle is greater than the acceleration of the target vehicle.

[0076] Accordingly, when the relative speed is greater than 0, or the relative acceleration is greater than 0, the determined distance change trend indicates that the distance between the target vehicle and the reference vehicle becomes shorter; otherwise, the determined distance change trend indicates that the distance between the target vehicle and the reference vehicle remains unchanged or becomes longer.

[0077] S120: Determine the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend.

[0078] The lane change risk level is used to characterize whether it is dangerous for the target vehicle to change lanes at the current moment. It can be understood that the higher the lane change risk level, the greater the danger. Optionally, the lane change risk level can be a qualitative indicator, such as low risk and high risk; the lane change risk level can also be a quantitative indicator, such as a risk level index; this application does not make any limitation on this.

[0079] In an optional implementation, the current distance and the distance change trend are input into a pre-trained lane change risk level determination model to obtain the lane change risk level corresponding to the target vehicle at the current moment. The lane change risk level determination model can be built based on a common neural network, which will not be described in detail here. Furthermore, in the process of training the lane change risk level determination model, the sample distance and the sample change trend can be input into the risk level determination model to obtain the predicted risk level corresponding to the sample data, and the lane change risk level determination model is trained according to the predicted risk level and the risk level label corresponding to the sample data.

[0080] In an optional implementation, a correspondence between a reference distance, a reference change trend, and a reference risk level is predetermined, and the current distance, the distance change trend, and the reference risk level corresponding to the correspondence are used as the lane change risk level corresponding to the target vehicle at the current moment. Exemplarily, the correspondence indicates that when the reference distance is less than a preset distance and the reference change trend is a shortened distance, the reference risk level is a high risk; when the reference distance is not less than the preset distance, the reference risk level is a low risk.

[0081] S130, issuing a lane change warning to the target vehicle according to the lane change risk level.

[0082] Optionally, if the lane change risk level is a qualitative indicator, then when the lane change risk level is a high risk level, a lane change warning is issued to the target vehicle; if the lane change risk level is a quantitative indicator (for example, a specific risk value), then when the lane change risk level exceeds a preset risk level, a lane change warning is issued to the target vehicle. The preset risk level may be determined based on the driving habits of the target vehicle's corresponding driver, or may be determined based on manual experience, and this application does not impose any limitation on this.

[0083] For example, the target vehicle may be warned of lane change by voice broadcast. The target vehicle may also be warned of lane change by adjusting the state of the rearview mirror. For example, the rearview mirror indicator light may be controlled to flash, or the rearview mirror may be controlled to emit a sound. This application does not impose any limitation on the lane change warning method.

[0084] In the above-mentioned vehicle lane change warning method, when the target vehicle is in a driving state, the current distance and distance change trend between the target vehicle and the reference vehicle corresponding to the target vehicle at the current moment are determined, and the lane change risk level corresponding to the target vehicle at the current moment is determined based on the current distance and distance change trend, and then the target vehicle is given a lane change warning based on the lane change risk level. In the above-mentioned process, in the process of determining the lane change risk level, not only the current distance between the target vehicle and the reference vehicle is considered, but also the distance change trend between the target vehicle and the reference vehicle is introduced. Compared with the method of determining the lane change risk level based only on the current distance in the traditional technology, the lane change risk level determined by the present application is more accurate, thereby making the lane change warning more accurate, and can also avoid driving interference to the driving user caused by inaccurate lane change warning, further improving driving safety.

[0085] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the process of determining the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend is described in detail.

[0086] See also Figure 2The steps for determining the lane change risk level shown include:

[0087] S210, determining a lane change risk category corresponding to the target vehicle at the current moment according to a relationship between a current distance between the target vehicle and the reference vehicle and a preset safety distance.

[0088] Among them, the lane change risk category is used to characterize whether there is a lane change risk; the lane change risk category includes a risky category and a non-risky category.

[0089] Specifically, in this embodiment, when the current distance between the target vehicle and the reference vehicle is less than the preset safety distance, the lane change risk category corresponding to the target vehicle at the current moment is determined to be a risky category; when the current distance between the target vehicle and the reference vehicle is not less than the preset safety distance, the lane change risk category corresponding to the target vehicle at the current moment is determined to be a non-risk category. The preset safety distance can be determined based on manual experience or through a large number of experiments, and this application does not impose any limitation on this.

[0090] Optionally, in order to make the preset safety distance more rigorous, in this embodiment, the preset safety distance can also be determined according to the speed of the target vehicle at the current moment. For example, the corresponding relationship between the reference speed and the reference safety distance is predetermined, and the reference safety distance corresponding to the speed of the target vehicle at the current moment in the corresponding relationship is used as the preset safety distance. It is understandable that the higher the speed, the shorter the corresponding preset safety distance.

[0091] S220: When the lane change risk category is a risky category, determine the lane change risk level corresponding to the target vehicle at the current moment according to the distance change trend.

[0092] In an optional implementation, when the lane change risk category is a risky category, the distance change trend is input into a pre-trained level determination model to obtain the lane change risk level corresponding to the target vehicle at the current moment. The level determination model can be built based on a common neural network, which will not be described in detail here. In the process of training the level determination model, the sample change trend can be input into the level determination model to obtain a predicted level. Further, according to the predicted level and the level label corresponding to the sample change trend, the model parameters of the level determination model are adjusted.

[0093] In an optional implementation, a correspondence between a reference change trend and a reference risk level is predetermined, and when the lane change risk category is a risky category, the reference risk level corresponding to the distance change trend in the correspondence is used as the lane change risk level corresponding to the target vehicle at the current moment.

[0094] In the above embodiment, the process of determining the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend is described in detail. Specifically, the lane change risk category of the target vehicle at the current moment is determined according to the current distance between the target vehicle and the reference vehicle, and the lane change risk level is further determined when the lane change risk category is a risky category, so that the process of determining the lane change risk level is more logical, and the waste of computing power caused by directly determining the lane change risk level when the lane change risk category is a risk-free category is avoided.

[0095] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the process of determining the lane change risk level corresponding to the target vehicle at the current moment according to the distance change trend when the lane change risk category is the risky category is refined.

[0096] See also Figure 3A The steps for determining the lane change risk level shown include:

[0097] S310A, when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortening, determine the lane change risk level corresponding to the target vehicle at the current moment according to the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle.

[0098] The driving parameters include driving speed and / or driving acceleration. The lane change risk level includes a first risk level and a second risk level; the second risk level is higher than the first risk level.

[0099] In an optional implementation, the driving parameter includes a driving speed. Accordingly, when the driving speed of the target vehicle is less than the driving speed of the reference vehicle, and the difference between the two is greater than a first preset difference, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the second risk level; otherwise, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the first risk level. The first preset difference can be determined based on manual experience or through a large number of experiments, and this application does not impose any limitation on this.

[0100] In an optional implementation, the driving parameter includes driving acceleration. Accordingly, when the driving acceleration of the target vehicle is less than the driving acceleration of the reference vehicle, and the difference between the two is greater than a second preset difference, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the second risk level; otherwise, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the first risk level. The second preset difference can be determined based on manual experience or through a large number of experiments, and this application does not impose any limitation on this.

[0101] In an optional implementation, the driving parameters include driving speed and driving acceleration. Accordingly, when the driving speed of the target vehicle is not less than the driving speed of the reference vehicle, and the driving acceleration of the target vehicle is not less than the driving acceleration of the reference vehicle, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the first risk level. When the driving speed of the target vehicle is less than the driving speed of the reference vehicle, or the driving acceleration of the target vehicle is less than the driving acceleration of the reference vehicle, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the second risk level.

[0102] See also Figure 3B The steps for determining the lane change risk level shown include:

[0103] S310B, when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is getting longer, determine that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level.

[0104] Specifically, in this embodiment, when the lane change risk category is determined to be a risky category, and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is getting longer, it is determined that although the reference vehicle is closer to the target vehicle at the current moment, the reference vehicle is moving away from the target vehicle. Therefore, the lane change risk level corresponding to the target vehicle at the current moment is determined to be the first risk level.

[0105] In the above embodiment, when the lane change risk category is a risky category, the lane change risk level is divided into a first risk level and a second risk level according to the distance change trend between the target vehicle and the reference vehicle, as well as the driving parameters of the target vehicle and the driving parameters of the reference vehicle, so that the classification of the lane change risk level is clearer, and the lane change risk warning is more targeted.

[0106] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the reference vehicles include a first type of reference vehicle in the same lane as the target vehicle, and a second type of reference vehicle in a different lane from the target vehicle.

[0107] See also Figure 4A In the schematic diagram of reference vehicle types shown in FIG. 1 , reference vehicle 1 is a type of reference vehicle corresponding to the target vehicle. Accordingly, in this case, the process of determining the lane change risk level corresponding to the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle is refined.

[0108] See also Figure 4B The steps for determining the lane change risk level shown include:

[0109] S410B, when the reference vehicle has an intention to change lanes at the current moment, determine the lane change risk level of the target vehicle in the first target lane at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle.

[0110] Among them, the first target lane is the lane corresponding to the lane change intention.

[0111] It can be understood that since the first-class reference vehicle and the target vehicle are in the same lane, when the first-class reference vehicle is preparing to change lanes (i.e., there is an intention to change lanes), the lane changing risk level determined based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the first-class reference vehicle will be used as the lane changing risk level of the target vehicle in the first target lane at the current moment.

[0112] Optionally, in this embodiment, it is possible to determine whether a class of reference vehicles has an intention to change lanes based on V2V technology. It is also possible to obtain the turn signal status of a class of reference vehicles through a camera sensor, and determine whether a class of reference vehicles has an intention to change lanes based on the turn signal status. For example, when the turn signal of a class of reference vehicles is not flashing, it is determined that the class of reference vehicles has no intention to change lanes; when the left turn signal of a class of reference vehicles is flashing, it is determined that the class of reference vehicles is ready to change lanes to the left lane; when the right turn signal of a class of reference vehicles is flashing, it is determined that the class of reference vehicles is ready to change lanes to the right lane.

[0113] For example, see Figure 4A , when a type of reference vehicle 1 has the intention to change lanes to the left, the lane change risk level determined according to the size relationship between the driving parameters of the target vehicle and the driving parameters of the type of reference vehicle is used as the lane change risk level of the target vehicle in the left lane at the current moment, that is, the first target vehicle.

[0114] See also Figure 4C In the schematic diagram of reference vehicle types shown in FIG. 1 , reference vehicle 2 and reference vehicle 3 are both second-class reference vehicles corresponding to the target vehicle. Accordingly, in this case, the process of determining the lane change risk level corresponding to the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle is refined.

[0115] See also Figure 4D The steps for determining the lane change risk level shown include:

[0116] S410D: Determine the lane change risk level of the target vehicle in the second target lane at the current moment based on the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle.

[0117] The second target lane is the lane where the reference vehicle is currently located.

[0118] It can be understood that since the second-category reference vehicle and the target vehicle are in different lanes, the lane changing risk level determined based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the second-category reference vehicle will be used as the lane changing risk level of the target vehicle in the second target lane.

[0119] For example, see Figure 4C The lane change risk level determined according to the driving parameters of the target vehicle and the driving parameters of the second-class reference vehicle 2 is used as the lane change risk level of the target vehicle in the lane where the second-class reference vehicle 2 is located, that is, the second target lane at the current moment.

[0120] In the above embodiment, the reference vehicles corresponding to the target vehicle are classified according to the relationship between the lane where the reference vehicle is located and the lane where the target vehicle is located, and a specific process for determining the lane change risk level for different reference vehicles is given. The lane change risk level of the target vehicle is determined, so that the lane change risk is specific to the lane, the accuracy of the lane change risk warning is improved, and the safety of vehicle driving can be further improved.

[0121] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the vehicle lane change warning method provided by the present application can be applied to Figure 5A In the application environment shown, the lane change warning system 102 is connected to the electronic rearview mirror 104. Taking the vehicle lane change warning method provided by the present application applied to the lane change warning system 102 as an example, the process of determining the current distance and distance change trend between the moving target vehicle and the reference vehicle corresponding to the target vehicle at the current moment is introduced.

[0122] See also Figure 5B The steps for determining the current distance and the distance change trend shown include:

[0123] S510B, processing the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment.

[0124] Exemplarily, the lane change warning system 102 obtains vehicle and road image information on the side and rear of the target vehicle collected by the electronic rearview mirror 104, and analyzes the vehicle and road image information to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment.

[0125] Among them, the lane change warning system 102 can analyze the vehicle and road image information based on a neural network model, and this application does not make any limitation here.

[0126] Accordingly, the target vehicle is warned of lane change based on the following methods, see Figure 5C The lane change warning steps shown include:

[0127] S510C: Determine a corresponding target warning method at the current moment according to the lane change risk level.

[0128] Among them, the target warning method is a lane change reservation method output for the target vehicle at the current moment.

[0129] In this embodiment, different lane change risk levels may correspond to different warning methods. For example, the correspondence between different reference risk levels and reference warning methods may be determined in advance, and the reference warning method corresponding to the lane change risk level in the correspondence may be used as the corresponding target warning method at the current moment.

[0130] Exemplarily, the warning method may include at least one of a voice warning method, a display warning method and a light warning method. It is understandable that the warning effect of the warning method corresponding to the second risk level is stronger than the warning effect of the warning method corresponding to the first risk level.

[0131] S520C controls the electronic rearview mirror and issues lane change warnings to target vehicles based on the target warning method.

[0132] Exemplarily, when the target vehicle currently faces a risk of changing lanes right, and the lane change risk level is the second risk level, the right display screen of the electronic rearview mirror 104 is controlled to display a red lane change warning icon, reminding the driver that the current right lane change is at the second risk level; when the target vehicle currently faces a risk of changing lanes right, and the lane change risk level is the first risk level, the right display screen of the electronic rearview mirror 104 is controlled to display a yellow lane change warning icon, reminding the driver that the current right lane change is at the first risk level.

[0133] In the above embodiment, by interacting with the electronic rearview mirror of the target vehicle, the current distance and distance change trend between the target vehicle and the reference vehicle are determined, and the lane change warning of the target vehicle is completed according to the electronic rearview mirror, so that the vehicle lane change warning method provided by the present application can be clearer and can be applied to actual products. Furthermore, according to different lane change risk levels, different target warning methods are set, which can achieve better warning effects and further improve the safety of vehicle lane changes.

[0134] Based on the technical solutions of the above embodiments, the present application also provides an optional embodiment. In this optional embodiment, the vehicle lane change warning method provided by the present application can be applied to Figure 5AIn the application environment shown, the vehicle lane change warning method provided by the present application is introduced in detail.

[0135] See also Figure 6 The vehicle lane change warning method shown includes:

[0136] S610, acquiring road image information and vehicle image information behind the target vehicle collected by the electronic rearview mirror;

[0137] S620, parsing the road image information and the vehicle image information to determine the current distance, relative speed, relative acceleration and turn signal information between the target vehicle and the reference vehicle;

[0138] The lane change warning system 102 can determine the relative speed, relative acceleration and current distance between the reference vehicle and the target vehicle, as well as the turn signal of the reference vehicle through a recognition algorithm; it can also obtain the current vehicle distance between the reference vehicle and the target vehicle through camera image recognition or millimeter wave radar;

[0139] S630, determining a distance change trend between the target vehicle and the reference vehicle at the current moment according to the relative speed and the relative acceleration;

[0140] For example, according to the magnitude of the relative speed and relative acceleration of the reference vehicle, it can be obtained that the reference vehicle is approaching, maintaining or moving away from the target vehicle;

[0141] S640, determining a lane change risk category corresponding to the target vehicle at the current moment according to a relationship between the current distance between the target vehicle and the reference vehicle and a preset safety distance;

[0142] Among them, the lane change risk category includes a risky category and a non-risky category;

[0143] S650A: When the lane change risk category is no risk category, no lane change risk warning is issued to the target vehicle;

[0144] S650B, when the lane change risk category is a risky category, determining a distance change trend characterizing a distance change between the target vehicle and the reference vehicle;

[0145] S660A, in the case of a variable length, determining that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level;

[0146] S660B, in the case of shortening, determining the lane change risk level corresponding to the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle;

[0147] Wherein, the driving parameters include driving speed and / or driving acceleration;

[0148] Optionally, the reference vehicles include a reference vehicle of the same type as the lane where the target vehicle is located, and a second reference vehicle of a different lane from that where the target vehicle is located;

[0149] For a type of reference vehicle, when the type of reference vehicle has a lane change intention at the current moment, the lane change risk level of the target vehicle in the first target lane at the current moment is determined according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the type of reference vehicle; wherein the first target lane is the lane corresponding to the lane change intention;

[0150] For the second-class reference vehicle, the lane change risk level of the target vehicle in the second target lane at the current moment is determined according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the second-class reference vehicle; wherein the second target lane is the lane where the corresponding second-class reference vehicle is currently located;

[0151] S670, determining a corresponding target warning method at the current moment according to the lane change risk level;

[0152] S680 controls the electronic rearview mirror and issues lane change warning to the target vehicle based on the target warning method.

[0153] It should be noted that the present application also provides a detailed example of determining the driving intention of the reference vehicle according to the relative speed, relative acceleration and lane change intention between the target vehicle and the reference vehicle, as follows:

[0154] 1) When the reference vehicle is in the left lane of the target vehicle or changes lanes from the target vehicle to the left lane, the relative speed of the reference vehicle is greater than 0 and the relative acceleration is also greater than 0, and the reference vehicle is approaching the target vehicle. In particular, when the left turn signal of the reference vehicle flashes, it can be determined that the reference vehicle is about to overtake on the left;

[0155] 2) When the reference vehicle is in the right lane of the target vehicle or changes lanes from the target vehicle to the right lane, the relative speed of the reference vehicle is greater than 0 and the relative acceleration is also greater than 0, and the reference vehicle is approaching the target vehicle. In particular, when the right turn signal of the reference vehicle flashes, it can be determined that the reference vehicle is about to overtake on the right;

[0156] 3) When the reference vehicle moves from the target vehicle lane to the left lane, the relative speed of the reference vehicle is greater than 0 but the relative acceleration is less than 0. In particular, when the left turn signal of the reference vehicle flashes, it can be determined that the reference vehicle is about to change lanes to the left;

[0157] 4) When the reference vehicle changes lanes from the target vehicle lane to the right lane, the relative speed of the reference vehicle is greater than 0 but the relative acceleration is less than 0. In particular, when the right turn signal of the reference vehicle flashes, it can be determined that the reference vehicle is about to change lanes to the right;

[0158] 5) When the relative speed of the reference vehicle is close to 0 and the relative acceleration is also close to 0, the reference vehicle maintains a distance from the target vehicle; when the relative speed of the reference vehicle is less than 0 and the relative acceleration is less than 0, the reference vehicle moves away from the target vehicle. In particular, when the right turn signal of the reference vehicle flashes, it can be determined that the reference vehicle is about to move away to the right.

[0159] Correspondingly, when the reference vehicle is in an approaching or overtaking driving intention, when the current distance is less than the preset safety distance, it is confirmed that the lane changing risk level of the target vehicle to the lane where the reference vehicle is located under the reference vehicle's driving intention is the second risk level; when the reference vehicle is located in the left or right lane of the target vehicle and is in an intention to maintain the vehicle distance, when the current distance is less than the preset safety distance, it is confirmed that the lane changing risk level of the target vehicle to the lane where the reference vehicle is located under the reference vehicle's driving intention is the second risk level; when the reference vehicle is located in the left or right lane of the target vehicle and is in an intention to maintain the vehicle distance, when the current distance is greater than the preset safety distance, it is confirmed that the lane changing risk level of the target vehicle to the lane where the reference vehicle is located under the reference vehicle's driving intention is the first risk level; when the reference vehicle is in an intention to move away from the target vehicle, it is confirmed that the lane changing risk level of the target vehicle to the lane where the reference vehicle is located under the current driving intention is the first risk level.

[0160] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0161] Based on the same inventive concept, the embodiment of the present application also provides a vehicle lane change warning device for implementing the vehicle lane change warning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle lane change warning device embodiments provided below can refer to the limitations of the vehicle lane change warning method above, and will not be repeated here.

[0162] In an exemplary embodiment, Figure 7 As shown, a vehicle lane change warning device is provided, including: a change trend determination module 710, a risk level determination module 720 and a lane change warning module 730, wherein:

[0163] The change trend determination module 710 is used to determine the current distance and distance change trend between the target vehicle and the reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle traveling behind the target vehicle;

[0164] The risk level determination module 720 is used to determine the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend;

[0165] The lane change warning module 730 is used to provide a lane change warning to the target vehicle according to the lane change risk level.

[0166] In one embodiment, the risk level determination module 720 includes a first determination unit, which is used to determine the lane change risk category corresponding to the target vehicle at the current moment based on the current distance between the target vehicle and the reference vehicle and the relationship between the current distance and the preset safety distance; wherein the lane change risk category includes a risky category and a non-risky category; and a second determination unit, which is used to determine the lane change risk level corresponding to the target vehicle at the current moment based on the distance change trend when the lane change risk category is a risky category.

[0167] In one embodiment, the second determination unit includes a first determination subunit, which is used to determine the lane change risk level corresponding to the target vehicle at the current moment according to the relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened; the driving parameters include the driving speed and / or the driving acceleration; the second determination subunit is used to determine that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is lengthened; wherein the lane change risk level includes the first risk level and the second risk level; the second risk level is higher than the first risk level.

[0168] In one embodiment, if the driving parameters include driving speed and driving acceleration, the first determination subunit is specifically used to determine that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level when the driving speed of the target vehicle is not less than the driving speed of the reference vehicle and the driving acceleration of the target vehicle is not less than the driving acceleration of the reference vehicle; and to determine that the lane change risk level corresponding to the target vehicle at the current moment is a second risk level when the driving speed of the target vehicle is less than the driving speed of the reference vehicle or the driving acceleration of the target vehicle is less than the driving acceleration of the reference vehicle.

[0169] In one embodiment, if the reference vehicle and the target vehicle are in the same lane, the first determination subunit is specifically used to determine the lane changing risk level of the target vehicle in the first target lane at the current moment based on the relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle when the reference vehicle has the intention to change lanes at the current moment; wherein the first target lane is the lane corresponding to the lane changing intention.

[0170] In one embodiment, if the reference vehicle and the target vehicle are in different lanes, the first determination subunit is specifically used to determine the lane change risk level of the target vehicle in the second target lane at the current moment based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; wherein the second target lane is the lane in which the reference vehicle is currently located.

[0171] In one embodiment, the change trend determination module 710 is specifically used to process the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment; accordingly, the lane change warning module 730 includes a warning mode determination unit, which is used to determine the corresponding target warning mode at the current moment according to the lane change risk level; the warning unit is used to control the electronic rearview mirror to perform lane change warning on the target vehicle based on the target warning mode.

[0172] Each module in the above-mentioned vehicle lane change warning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0173] In an exemplary embodiment, a vehicle is provided, the vehicle includes a computer device, the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Figure 8As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle lane change warning method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0174] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0175] In an exemplary embodiment, a vehicle is provided, the vehicle includes a computer device, the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0176] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0177] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0178] According to the lane change risk level, the target vehicle is given a lane change warning.

[0179] In one embodiment, the processor further implements the following steps when executing the computer program: determining the lane change risk category corresponding to the target vehicle at the current moment based on the current distance between the target vehicle and the reference vehicle and the relationship between the current distance and the preset safety distance; wherein the lane change risk category includes a risky category and a non-risky category; when the lane change risk category is a risky category, determining the lane change risk level corresponding to the target vehicle at the current moment based on the distance change trend.

[0180] In one embodiment, the processor further implements the following steps when executing the computer program: when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened, determine the lane change risk level corresponding to the target vehicle at the current moment according to the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; the driving parameters include the driving speed and / or the driving acceleration; when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is lengthened, determine that the lane change risk level corresponding to the target vehicle at the current moment is the first risk level; wherein the lane change risk level includes the first risk level and the second risk level; the second risk level is higher than the first risk level.

[0181] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the target vehicle's driving speed is not less than the reference vehicle's driving speed, and the target vehicle's driving acceleration is not less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a first risk level; when the target vehicle's driving speed is less than the reference vehicle's driving speed, or the target vehicle's driving acceleration is less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a second risk level.

[0182] In one embodiment, the processor also implements the following steps when executing the computer program: when the reference vehicle has an intention to change lanes at the current moment, the lane changing risk level of the target vehicle in the first target lane at the current moment is determined based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; wherein the first target lane is the lane corresponding to the lane changing intention.

[0183] In one embodiment, when the processor executes the computer program, the following steps are also implemented: based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle, the lane change risk level of the target vehicle in the second target lane at the current moment is determined; wherein the second target lane is the lane in which the reference vehicle is currently located.

[0184] In one embodiment, when the processor executes the computer program, the following steps are also implemented: processing the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment; determining the corresponding target warning method at the current moment according to the lane change risk level; controlling the electronic rearview mirror to provide lane change warning to the target vehicle based on the target warning method.

[0185] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0186] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0187] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0188] According to the lane change risk level, the target vehicle is given a lane change warning.

[0189] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the current distance between the target vehicle and the reference vehicle and the relationship between the current distance and the preset safety distance, the lane change risk category corresponding to the target vehicle at the current moment is determined; wherein the lane change risk category includes a risky category and a non-risky category; when the lane change risk category is a risky category, the lane change risk level corresponding to the target vehicle at the current moment is determined based on the distance change trend.

[0190] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; the driving parameters include the driving speed and / or the driving acceleration; when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is lengthened, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a first risk level; wherein the lane change risk level includes a first risk level and a second risk level; the second risk level is higher than the first risk level.

[0191] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the target vehicle's driving speed is not less than the reference vehicle's driving speed, and the target vehicle's driving acceleration is not less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a first risk level; when the target vehicle's driving speed is less than the reference vehicle's driving speed, or the target vehicle's driving acceleration is less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a second risk level.

[0192] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the reference vehicle has an intention to change lanes at the current moment, the lane changing risk level of the target vehicle in the first target lane at the current moment is determined based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; wherein the first target lane is the lane corresponding to the lane changing intention.

[0193] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle, the lane change risk level of the target vehicle in the second target lane at the current moment is determined; wherein the second target lane is the lane in which the reference vehicle is currently located.

[0194] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: processing the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment; determining the corresponding target warning method at the current moment according to the lane change risk level; controlling the electronic rearview mirror to provide lane change warning to the target vehicle based on the target warning method.

[0195] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0196] Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle;

[0197] According to the current distance and distance change trend, determine the lane change risk level of the target vehicle at the current moment;

[0198] According to the lane change risk level, the target vehicle is given a lane change warning.

[0199] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the current distance between the target vehicle and the reference vehicle and the relationship between the current distance and the preset safety distance, the lane change risk category corresponding to the target vehicle at the current moment is determined; wherein the lane change risk category includes a risky category and a non-risky category; when the lane change risk category is a risky category, the lane change risk level corresponding to the target vehicle at the current moment is determined based on the distance change trend.

[0200] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened, the lane change risk level corresponding to the target vehicle at the current moment is determined according to the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; the driving parameters include the driving speed and / or the driving acceleration; when the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is lengthened, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a first risk level; wherein the lane change risk level includes a first risk level and a second risk level; the second risk level is higher than the first risk level.

[0201] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the target vehicle's driving speed is not less than the reference vehicle's driving speed, and the target vehicle's driving acceleration is not less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a first risk level; when the target vehicle's driving speed is less than the reference vehicle's driving speed, or the target vehicle's driving acceleration is less than the reference vehicle's driving acceleration, the lane change risk level corresponding to the target vehicle at the current moment is determined to be a second risk level.

[0202] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the reference vehicle has an intention to change lanes at the current moment, the lane changing risk level of the target vehicle in the first target lane at the current moment is determined based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; wherein the first target lane is the lane corresponding to the lane changing intention.

[0203] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: based on the size relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle, the lane change risk level of the target vehicle in the second target lane at the current moment is determined; wherein the second target lane is the lane in which the reference vehicle is currently located.

[0204] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: processing the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment; determining the corresponding target warning method at the current moment according to the lane change risk level; controlling the electronic rearview mirror to provide lane change warning to the target vehicle based on the target warning method.

[0205] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0206] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0207] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle lane change warning method, characterized in that: The method comprises: Determine the current distance and distance change trend between the moving target vehicle and a reference vehicle corresponding to the target vehicle at the current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle; Determining a lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend; According to the lane change risk level, a lane change warning is issued to the target vehicle.

2. The method according to claim 1, characterized in that The determining, according to the current distance and the distance change trend, a lane change risk level corresponding to the target vehicle at the current moment includes: Determine the lane change risk category corresponding to the target vehicle at the current moment according to the relationship between the current distance between the target vehicle and the reference vehicle and the preset safety distance; wherein the lane change risk category includes a risky category and a non-risky category; When the lane change risk category is a risky category, a lane change risk level corresponding to the target vehicle at the current moment is determined according to the distance change trend.

3. The method according to claim 2, characterized in that When the lane change risk category is a risky category, determining the lane change risk level corresponding to the target vehicle at the current moment according to the distance change trend includes: When the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is shortened, determining the lane change risk level of the target vehicle at the current moment according to a magnitude relationship between a driving parameter of the target vehicle and a driving parameter of the reference vehicle; the driving parameter includes a driving speed and / or a driving acceleration; When the lane change risk category is a risky category and the distance change trend indicates that the distance between the target vehicle and the reference vehicle is getting longer, determining that the lane change risk level corresponding to the target vehicle at the current moment is a first risk level; The lane change risk level includes the first risk level and the second risk level; the second risk level is higher than the first risk level.

4. The method according to claim 3, characterized in that If the driving parameters include driving speed and driving acceleration, determining the lane change risk level corresponding to the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle includes: When the driving speed of the target vehicle is not less than the driving speed of the reference vehicle, and the driving acceleration of the target vehicle is not less than the driving acceleration of the reference vehicle, determining that the lane change risk level corresponding to the target vehicle at the current moment is the first risk level; When the driving speed of the target vehicle is lower than the driving speed of the reference vehicle, or the driving acceleration of the target vehicle is lower than the driving acceleration of the reference vehicle, it is determined that the lane change risk level corresponding to the target vehicle at the current moment is the second risk level.

5. The method according to claim 3, characterized in that: If the reference vehicle and the target vehicle are in the same lane, determining the lane change risk level of the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle includes: In the case where the reference vehicle has an intention to change lanes at the current moment, determining a lane change risk level of the target vehicle in the first target lane at the current moment according to a magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; Among them, the first target lane is the lane corresponding to the lane change intention.

6. The method according to claim 3, characterized in that If the reference vehicle and the target vehicle are in different lanes, determining the lane change risk level of the target vehicle at the current moment according to the magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle includes: Determining a lane change risk level of the target vehicle in the second target lane at the current moment according to a magnitude relationship between the driving parameters of the target vehicle and the driving parameters of the reference vehicle; The second target lane is the lane where the reference vehicle is currently located.

7. The method according to any one of claims 1 to 6, characterized in that The determining of the current distance and the distance change trend between the moving target vehicle and the reference vehicle corresponding to the target vehicle at the current moment includes: Processing the image captured by the electronic rearview mirror of the target vehicle to determine the current distance and distance change trend between the target vehicle and the reference vehicle at the current moment; Accordingly, the lane change warning for the target vehicle according to the lane change risk level includes: Determine a corresponding target warning method at the current moment according to the lane change risk level; The electronic rearview mirror is controlled to provide lane change warning to the target vehicle based on the target warning method.

8. A vehicle lane change warning device, characterized in that: The device comprises: A change trend determination module, used to determine the current distance and distance change trend between a moving target vehicle and a reference vehicle corresponding to the target vehicle at a current moment; wherein the reference vehicle is a vehicle moving behind the target vehicle; A risk level determination module, used to determine the lane change risk level corresponding to the target vehicle at the current moment according to the current distance and the distance change trend; The lane change warning module is used to provide a lane change warning to the target vehicle according to the lane change risk level.

9. A vehicle, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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