Vehicle collision early warning method and device for intersection lane and vehicle terminal

Abstract

The invention relates to the technical field of vehicle early warning, and discloses a vehicle collision early warning method and device for an intersection lane and a vehicle terminal. According to the method, the collision early warning road section is divided into the obstacle road section and the open road section according to the obstacle detection result of the area between the collision early warning road section and the target vehicle, so that when the obstacle exists between the obstacle road section and the target lane, vehicle collision early warning is performed according to the intersection distance between the vehicle and the lane intersection; and when no obstacle exists between the obstacle road section and the target lane, vehicle collision early warning is carried out according to the intersection distance between the vehicle and the obstacle on the target lane, so that when the vehicle has a collision risk, early warning is carried out to a user, invalid early warning information is filtered, intelligence of an entrance early warning mechanism is realized, and the safety of the vehicle is improved. Therefore, the user is prevented from being distracted or ineffective early warning information is not seen, and the collision risk of the vehicle at the entrance is reduced.

Description

Technical Field

[0001] The present invention relates to the field of vehicle early warning technology, and in particular to a vehicle collision early warning method, device and vehicle terminal for merging lanes. Background Art

[0002] In contemporary society, with the acceleration of urbanization and the continuous expansion of the transportation network, traffic nodes such as highways and road ramps, as important channels connecting the city and the outside, have become high-incidence areas of traffic accidents at their confluence points. Collisions between vehicles occur frequently, seriously threatening the safety and smoothness of road traffic.

[0003] In order to solve the collision risk at the merging entrance, with the rapid development of vehicle intelligent technology, automobile manufacturers, map service providers and intelligent transportation system developers have introduced vehicle merging entrance warning mechanisms to provide drivers with information about merging vehicles in a timely manner, so as to enhance the driver's vigilance and reduce collision accidents caused by blind spots or misjudgment.

[0004] However, the current warning mechanism will broadcast a reminder when the vehicle approaches any confluence, regardless of the traffic conditions at the confluence. Frequent and indiscriminate warning broadcasts cause drivers to face a large amount of redundant information, increasing their information processing burden and possibly distracting the driver from the road ahead and the traffic environment. Moreover, drivers who are exposed to a large amount of indiscriminate warning information for a long time will habitually ignore the warning information, causing the actual effect of the warning mechanism to be greatly reduced. Summary of the invention

[0005] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0006] In view of the above-mentioned shortcomings of the prior art, the present application provides a vehicle collision warning method, device and vehicle terminal for a merging lane to realize the intelligence of the merging entrance warning mechanism, thereby reducing the risk of vehicle collision at the merging entrance.

[0007] The present application provides a vehicle collision warning method for merging lanes, comprising: obtaining a collision warning section between a target vehicle and a lane intersection, wherein the target vehicle is traveling in a current lane, and the current lane intersects with the target lane at the lane intersection; performing obstacle detection on an area between the collision warning section and the target lane, and dividing the collision warning section into an obstacle section and an open section according to the obstacle detection result, wherein there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane; if the target vehicle is traveling in the obstacle section, a vehicle collision warning is performed according to an intersection distance between the target vehicle and the lane intersection; if the target vehicle is traveling in the open section, obstacle detection is performed on the target lane by a vehicle sensor arranged on the target vehicle to obtain a target lane obstacle, and a vehicle collision warning is performed according to an obstacle distance between the target vehicle and the target lane obstacle.

[0008] In one embodiment of the present application, it is determined that the target vehicle is traveling in the current lane in the following manner: if the target vehicle is traveling on a vehicle road, road information corresponding to the vehicle road is obtained, wherein the vehicle road is composed of driving lanes, and the road information includes the number of lanes corresponding to the driving lanes and the lane types corresponding to each of the driving lanes; lane line recognition is performed on the vehicle road to obtain the lane line type corresponding to each of the lane lines, and the lane edges corresponding to each of the driving lanes are determined from each of the lane lines according to the lane line type and the lane type; the current lane is determined from each of the driving lanes according to the number of lanes and the lane type; if the target vehicle is located between the lane edges of the current lane, it is determined that the target vehicle is traveling in the current lane.

[0009] In one embodiment of the present application, a lane intersection is determined in the following manner: detection is performed based on preset intersection features, wherein the intersection features include at least one of a first feature, a second feature, and a third feature, the first feature including that the lane line of the current lane changes from a solid line to a dashed line at the lane intersection, the second feature includes a guide line corresponding to the lane intersection, and the third feature includes a road sign located at the lane intersection marked with preset intersection information corresponding to the lane intersection; in response to detecting any intersection feature, determining the lane intersection from the current vehicle based on the detected intersection feature.

[0010] In one embodiment of the present application, detection is performed according to preset intersection features, including: obtaining map data corresponding to the target vehicle; determining whether there is a lane interaction point within a preset distance range of the target vehicle based on the map data; if there is a lane interaction point within the preset distance range of the target vehicle, detection is performed according to the preset intersection features.

[0011] In one embodiment of the present application, in response to detecting any intersection feature, a lane intersection is determined from the current vehicle based on the detected intersection feature, including: obtaining a confidence level corresponding to the intersection feature through a preset image recognition model, wherein the intersection feature is obtained by performing image recognition by the image recognition model; calculating according to each of the confidence levels to obtain an average confidence level; if the execution average level is greater than a preset average level threshold, determining a lane intersection from the current vehicle based on a target feature, wherein the target feature is the intersection feature with the highest confidence level.

[0012] In one embodiment of the present application, obstacle detection is performed on the area between the collision warning section and the target lane, including: performing target object detection on the area between the collision warning section and the target vehicle by means of a vehicle sensor disposed on the target vehicle, and receiving detection information output by the vehicle sensor; if the vehicle sensor does not output detection information, setting the obstacle detection result to the presence of an obstacle in the area between the collision warning section and the target vehicle; if the vehicle sensor outputs detection information, setting the obstacle detection result to the absence of an obstacle in the area between the collision warning section and the target vehicle.

[0013] In one embodiment of the present application, a vehicle collision warning is performed based on the intersection distance between the target vehicle and the lane intersection, including: obtaining the driving parameters of the target vehicle, wherein the driving parameters include vehicle speed and / or vehicle acceleration; calculating according to the driving parameters to obtain a warning distance threshold, wherein there is a positive correlation between the vehicle speed and the warning distance threshold, and there is a positive correlation between the vehicle acceleration and the warning distance threshold; if the intersection distance between the target vehicle and the lane intersection is less than or equal to the warning distance threshold, matching the current warning strategy according to the warning level corresponding to the warning distance threshold, and executing the current warning strategy to perform a vehicle collision warning, wherein there is a positive correlation between the warning distance threshold and the warning level.

[0014] In one embodiment of the present application, a vehicle collision warning is performed according to the obstacle distance between the target vehicle and the target lane obstacle, including: obtaining movement parameters corresponding to the target vehicle and the target lane obstacle respectively, wherein the movement parameters include a movement speed and a movement angle; calculating each of the movement parameters according to a preset collision direction to obtain the collision direction speeds of the target vehicle and the target lane obstacle in the preset collision direction; calculating the obstacle distance between the target vehicle and the target lane obstacle according to each of the collision direction speeds to obtain a collision time; matching a current warning strategy according to the collision time, and executing the current warning strategy to perform a vehicle collision warning.

[0015] The present application provides a vehicle collision warning system for merging lanes, comprising: an acquisition module, used to acquire a collision warning section between a target vehicle and a lane intersection, wherein the target vehicle travels in a current lane, and the current lane intersects with the target lane at the lane intersection; a detection module, used to perform obstacle detection on an area between the collision warning section and the target lane, and divide the collision warning section into an obstacle section and an open section according to the obstacle detection result, wherein there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane; a first warning module, used to perform a vehicle collision warning according to an intersection distance between the target vehicle and the lane intersection if the target vehicle travels in the obstacle section; and a second warning module, used to perform obstacle detection on the target lane through a vehicle sensor arranged on the target vehicle, obtain a target lane obstacle, and perform a vehicle collision warning according to an obstacle distance between the target vehicle and the target lane obstacle if the target vehicle travels in the open section.

[0016] The present application provides a vehicle terminal, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the vehicle terminal executes the above method.

[0017] Beneficial effects of this application:

[0018] The collision warning section is divided into an obstacle section and an open section by detecting obstacles in the area between the collision warning section and the target vehicle. When there is an obstacle between the obstacle section and the target lane, a vehicle collision warning is issued based on the intersection distance between the vehicle and the lane intersection. When there is no obstacle between the obstacle section and the target lane, a vehicle collision warning is issued based on the intersection distance between the vehicle and the obstacle on the target lane. In this way, not only the reference object is determined based on whether there is an obstacle in the area between the collision warning section and the target vehicle, but also the vehicle collision warning is issued based on the distance between the vehicle and the reference object. From two aspects, the user is warned when the vehicle is in danger of collision. Compared with broadcasting each confluence point to the user, invalid warning information is filtered, and the intelligent warning mechanism of the confluence point is realized, which prevents users from being distracted or ignoring invalid warning information, thereby reducing the risk of vehicle collision at the confluence point. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a vehicle collision warning method for merging lanes in an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of an obstacle section and an open section in an embodiment of the present application;

[0021] Figure 3 is a flow chart of another vehicle collision warning method for merging lanes in an embodiment of the present application;

[0022] Figure 4 is a structural schematic diagram of a vehicle collision warning system for merging lanes in an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the structure of a vehicle terminal in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and sub-samples in the embodiments can be combined with each other without conflict.

[0025] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0026] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0027] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0028] Unless otherwise stated, the term "plurality" means two or more.

[0029] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0030] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0031] Combination Figure 1 As shown, the embodiment of the present disclosure provides a vehicle collision warning method for merging lanes, comprising:

[0032] Step S101, obtaining a collision warning section between the target vehicle and the lane intersection;

[0033] Among them, the target vehicle is traveling in the current lane, and the current lane intersects with the target lane at the lane intersection;

[0034] Step S102, performing obstacle detection on the area between the collision warning section and the target lane, and dividing the collision warning section into an obstacle section and an open section according to the obstacle detection result;

[0035] Among them, there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane;

[0036] Step S103, if the target vehicle is traveling on an obstacle section, a vehicle collision warning is issued according to the intersection distance between the target vehicle and the lane intersection;

[0037] Step S104: If the target vehicle is traveling on an open road section, obstacle detection is performed on the target lane by a vehicle sensor installed on the target vehicle to obtain the target lane obstacle, and a vehicle collision warning is performed according to the obstacle distance between the target vehicle and the target lane obstacle.

[0038] The vehicle collision warning method for merging lanes provided by the embodiment of the present disclosure is adopted. The collision warning section is divided into an obstacle section and an open section by detecting obstacles in the area between the collision warning section and the target vehicle. When there is an obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the lane intersection. When there is no obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the target lane. In this way, not only a reference object is determined based on whether there is an obstacle in the area between the collision warning section and the target vehicle, but also a vehicle collision warning is performed based on the distance between the obstacle and the reference object. From two aspects, when the vehicle is in danger of collision, a warning is given to the user. Compared with broadcasting each confluence entrance to the user, invalid warning information is filtered, and the intelligent warning mechanism of the confluence entrance is realized, which prevents users from being distracted or ignoring invalid warning information, thereby reducing the risk of collision of vehicles at the confluence entrance.

[0039] Optionally, determining that the target vehicle is traveling in the current lane is performed in the following manner: if the target vehicle is traveling on a vehicle road, obtaining road information corresponding to the vehicle road, wherein the vehicle road is composed of driving lanes, and the road information includes the number of lanes corresponding to the driving lanes and the lane types corresponding to each driving lane; performing lane line recognition on the vehicle road to obtain the lane line types corresponding to each lane line, and determining lane edges corresponding to each driving lane from each lane line according to the lane line type and the lane type; determining the current lane from each driving lane according to the number of lanes and the lane type; if the target vehicle is located between the lane edges of the current lane, determining that the target vehicle is traveling in the current lane.

[0040] In some embodiments, an image sensor disposed on the target vehicle continuously acquires images of the front of the vehicle and the surrounding environment; the image acquired by the image sensor is processed based on an edge detection algorithm and a Hough transform to detect lane lines in the image, and the detected lane lines are classified to distinguish between solid lines, dashed lines, and lane lines of different colors; the driving lanes are distinguished in combination with the road information in the map data to determine the current lane. For example, if the vehicle road is a highway and the vehicle road consists of three driving lanes, the map data outputs that the vehicle road includes two main lanes and one emergency lane. If there are four identified lane lines, the driving lane between the third lane line and the fourth lane line is the emergency lane, and the driving lane between the second lane line and the third lane line is the rightmost drivable lane. Similarly, the rightmost drivable lane is also the lane intersecting with the ramp. Therefore, the driving lane between the second lane line and the third lane line is the current lane, and the second lane line and the third lane line are the lane edges of the current lane; considering the width and length of the vehicle, when the entire vehicle is within the lane edge, it is determined that the target vehicle is located in the current parking space.

[0041] Optionally, the lane intersection is determined in the following manner: detection is performed based on preset intersection features, wherein the intersection features include at least one of a first feature, a second feature, and a third feature, the first feature including that the lane line of the current lane changes from a solid line to a dashed line at the lane intersection, the second feature includes a guide line corresponding to the lane intersection, and the third feature includes that a road sign located at the lane intersection is marked with preset intersection information corresponding to the lane intersection; in response to detecting any intersection feature, determining the lane intersection from the current vehicle based on the detected intersection feature.

[0042] In some embodiments, an image sensor installed in the target vehicle continuously captures images of the front of the vehicle and the surrounding environment, and performs image recognition on the captured images, so as to use an image processing algorithm to analyze the color, shape, continuity and other characteristics of the markings, and determine whether the analysis results meet the intersection characteristics; if the analysis results meet the intersection characteristics, the lane intersection can be determined according to the intersection characteristics, thereby accurately determining the location of the confluence entrance.

[0043] In some embodiments, near the merging entrance, the lane line will usually gradually change from a solid line to a dotted line, which means that the vehicle can change lanes or merge here; when it is identified that the lane line gradually changes from a solid line to a dotted line, the change point between the solid line and the dotted line is used as the lane intersection point.

[0044] In some embodiments, some confluences are marked with guide lines, which are used to guide vehicles from branch lines into the main line. The shape of the guide lines is usually quite special, distributed in the confluence area in the shape of a triangle or trapezoid. If the guide line is identified, the preset position of the guide line is determined as the position of the lane intersection according to the shape of the guide line.

[0045] In some embodiments, road signs located at lane intersections usually indicate intersection information, for example, target road information such as the road name of the target road, the driving direction of the target road, and intersection keywords such as "merge" and "entrance ahead", as well as specific graphic signs; if the road sign is marked with the above-mentioned intersection information, the location of the lane interaction point is determined according to the intersection information and the location of the road sign.

[0046] Optionally, detection is performed according to preset intersection features, including: obtaining map data corresponding to the target vehicle; determining whether there is a lane interaction point within a preset distance range of the target vehicle based on the map data; if there is a lane interaction point within the preset distance range of the target vehicle, detection is performed according to the preset intersection features.

[0047] In some embodiments, if the intersection is determined by the precise map position of the map data, the warning may be issued late. At the same time, in order to reduce the data processing pressure of the vehicle, after the map data determines that there is a lane interaction point within a preset distance range of the target vehicle, the intersection features are detected by sensors. Alternatively, if the map data determines that there is no lane interaction point within the preset distance range of the target vehicle, the intersection features detected by the sensors are ignored.

[0048] Optionally, in response to detecting any intersection feature, determining the lane intersection from the current vehicle based on the detected intersection feature, including: obtaining the confidence corresponding to the intersection feature through a preset image recognition model, wherein the intersection feature is obtained by performing image recognition by the image recognition model; calculating according to each confidence to obtain an average confidence value; if the execution average value is greater than a preset average value threshold, determining the lane intersection from the current vehicle based on the target feature, wherein the target feature is the intersection feature with the highest confidence.

[0049] In some embodiments, images of the road in front of the vehicle are continuously captured and transmitted to an image recognition module in real time; the received images are analyzed using a preset image recognition model to identify possible lane intersection features, and a confidence value is assigned to each feature; the average value of these confidences is calculated by arithmetic averaging, and compared with a preset average value threshold, for example, the average value threshold is 0.8; if the average value is greater than the threshold, it means that the recognition result is relatively reliable, and the intersection feature with the highest confidence is further searched as the target feature, and the lane intersection is determined from the current vehicle through the target feature.

[0050] Optionally, obstacle detection is performed on the area between the collision warning section and the target lane, including: performing target object detection on the area between the collision warning section and the target vehicle by means of a vehicle sensor arranged on the target vehicle, and receiving detection information output by the vehicle sensor; if the vehicle sensor does not output detection information, setting the obstacle detection result to the presence of an obstacle in the area between the collision warning section and the target vehicle; if the vehicle sensor outputs detection information, setting the obstacle detection result to the absence of an obstacle in the area between the collision warning section and the target vehicle.

[0051] In some embodiments, the area between the collision warning section and the target vehicle is the right front area of ​​the target vehicle.

[0052] In some embodiments, the conditions for determining whether there is an obstacle in the area between the collision warning section and the target vehicle include at least one of the following: the map data outputs that there is a confluence within a preset distance range in front of the target vehicle; the image sensor recognizes that there is a confluence feature in the right front of the target vehicle, for example, the right front area has a guide line; the radar sensor and / or infrared sensor recognizes that there is no target object information in front of the right of the target vehicle, wherein the radar sensor is used to output elevation information. If the radar sensor does not output the elevation information of the target vehicle in front of the right, it means that there is no target object information in front of the right of the target vehicle, that is, there is an obstacle in front of the right of the target vehicle.

[0053] In some embodiments, if the radar sensor starts to output elevation information of the target vehicle in front of the right side, it means that the target vehicle has entered an open road section.

[0054] Combination Figure 2 As shown, the embodiment of the present disclosure provides an obstacle section and an open section, and the area between the target vehicle and the obstacle end point is used as the obstacle section, and the area between the vehicle merging point and the obstacle end point is used as the open section.

[0055] Optionally, a vehicle collision warning is performed based on the intersection distance between the target vehicle and the lane intersection, including: obtaining the driving parameters of the target vehicle, wherein the driving parameters include the vehicle speed and / or the vehicle acceleration; calculating according to the driving parameters to obtain a warning distance threshold, wherein the vehicle speed is positively correlated with the warning distance threshold, and the vehicle acceleration is positively correlated with the warning distance threshold; if the intersection distance between the target vehicle and the lane intersection is less than or equal to the warning distance threshold, matching the current warning strategy according to the warning level corresponding to the warning distance threshold, and executing the current warning strategy to perform a vehicle collision warning, wherein the warning distance threshold is positively correlated with the warning level.

[0056] In some embodiments, if the vehicle speed of the target vehicle is lower than a first speed threshold, no vehicle collision warning is performed.

[0057] In some embodiments, if the target vehicle is outside the current lane, no vehicle collision warning is performed.

[0058] In some embodiments, if the target vehicle is located in the current lane and the vehicle speed of the target vehicle is between the first speed threshold and the second speed threshold, the warning distance threshold corresponding to the first warning level is obtained, and when the intersection distance is less than or equal to the warning distance threshold corresponding to the first warning level, the current warning strategy corresponding to the first warning level is executed, triggering a visual alarm, that is, the instrument displays "There is a confluence ahead, please slow down", where the first speed threshold is less than the second speed threshold.

[0059] In some embodiments, if the target vehicle is located in the current lane and the vehicle speed of the target vehicle is between the second speed threshold and the third speed threshold, the warning distance threshold corresponding to the second warning level is obtained, and when the intersection distance is less than or equal to the warning distance threshold corresponding to the second warning level, the current warning strategy corresponding to the second warning level is executed, and a sound alarm is triggered, that is, a voice reminder is given "There is a confluence ahead, please slow down", wherein the second speed threshold is less than the third speed threshold, and the first warning level is less than the second warning level.

[0060] In some embodiments, if the target vehicle is located in the current lane and the vehicle speed of the target vehicle is greater than or equal to the third speed threshold, the warning distance threshold corresponding to the third warning level is obtained, and when the intersection distance is less than or equal to the warning distance threshold corresponding to the third warning level, the current warning strategy corresponding to the third warning level is executed, AEB (Autonomous Emergency Braking) is triggered, control of the target vehicle is taken over, the target vehicle is decelerated to below the first speed threshold, and a voice reminder is given to the user.

[0061] Optionally, a vehicle collision warning is performed based on the obstacle distance between the target vehicle and the target lane obstacle, including: obtaining movement parameters corresponding to the target vehicle and the target lane obstacle, respectively, wherein the movement parameters include a movement speed and a movement angle; calculating each movement parameter according to a preset collision direction to obtain the collision direction speeds of the target vehicle and the target lane obstacle in the preset collision direction; calculating the obstacle distance between the target vehicle and the target lane obstacle according to each collision direction speed to obtain a collision time; matching the current warning strategy according to the collision time, and executing the current warning strategy to perform a vehicle collision warning.

[0062] In some embodiments, a high-precision positioning system is used to determine the moving speed and moving angle of the target vehicle.

[0063] In some embodiments, a laser radar is used to emit a laser beam and receive reflected laser light to create a three-dimensional point cloud map of the surrounding environment, thereby detecting the outer contour and surface features of the target lane obstacles, wherein the target vehicle obstacles include other vehicles located in the target lane; by analyzing the point cloud data over a continuous time, the moving speed and moving angle of the target vehicle obstacle can be determined by the changes in position and distance.

[0064] In some embodiments, the preset collision direction is perpendicular to the driving direction of the target vehicle, that is, directly to the right of the target vehicle.

[0065] In some embodiments, the collision direction speed of the target vehicle and the target lane obstacle is obtained by multiplying the moving speed by the cosine value corresponding to the moving angle.

[0066] In some embodiments, the collision time is calculated by the following formula:

[0067]

[0068] In formula (1), TTC is the time-to-collision, S is the obstacle distance between the target vehicle and the target lane obstacle, and V is the difference in collision direction speed between the target vehicle and the target lane obstacle.

[0069] In some embodiments, if the target lane obstacle is located behind the target vehicle, no vehicle collision warning is performed.

[0070] In some embodiments, if the TTC is greater than 5, no reminder is given; if the TTC is between 4 and 5, a visual alarm is triggered, i.e., the instrument displays "There is a vehicle ahead, please slow down"; if the TTC is between 3 and 4, an audio alarm is triggered, i.e., a voice reminder "There is a vehicle ahead, please slow down" is given; if the TTC is less than 3, AEB is triggered, taking over control of the target vehicle, slowing the target vehicle down to below the first speed threshold, and giving a voice reminder to the user.

[0071] Combination Figure 3 As shown, the embodiment of the present disclosure provides a vehicle collision warning method for merging lanes, comprising:

[0072] Step S301, passing a target vehicle traveling on a vehicle road;

[0073] Step S302, determine whether there is a lane merging point near the target vehicle, if yes, jump to step S303, if no, jump to step S301;

[0074] Step S303, determine whether the target vehicle is in the current lane, if so, jump to step S304, if not, jump to step S301;

[0075] Step S304, performing detection according to preset intersection features;

[0076] Step S305, determining whether the intersection feature is detected, if so, jump to step S306, if not, jump to step S304;

[0077] Step S306, determining a lane intersection point from the current vehicle according to the detected intersection point features, and obtaining a collision warning section between the target vehicle and the lane intersection point;

[0078] Step S307, performing obstacle detection on the area between the collision warning section and the target lane to obtain an obstacle detection result;

[0079] Step S308, dividing the collision warning section into an obstacle section and an open section according to the obstacle detection result;

[0080] Step S309, determining whether the target vehicle is traveling on an obstacle section, if so, jump to step S310, if not, jump to step S312;

[0081] Step S310, calculating according to the driving parameters of the target vehicle to obtain a warning distance threshold;

[0082] Wherein, the driving parameters include vehicle speed and / or vehicle acceleration;

[0083] Among them, there is a positive correlation between the vehicle speed and the warning distance threshold, and there is a positive correlation between the vehicle acceleration and the warning distance threshold;

[0084] Step S311, comparing the warning distance threshold according to the intersection point distance between the target vehicle and the lane intersection point, so as to issue a vehicle collision warning according to the comparison result.

[0085] Step S312, performing obstacle detection on the target lane by using a vehicle sensor disposed on the target vehicle to obtain obstacles in the target lane;

[0086] Step S313, calculating the movement parameters corresponding to the target vehicle and the target lane obstacle respectively according to the preset collision direction, and obtaining the collision direction speeds of the target vehicle and the target lane obstacle respectively in the preset collision direction;

[0087] Step S314, calculating the obstacle distance between the target vehicle and the target lane obstacle according to the speeds in each collision direction to obtain the collision time;

[0088] Step S315: issuing a vehicle collision warning according to the collision time.

[0089] The vehicle collision warning method for merging lanes provided by the embodiment of the present disclosure is adopted. The collision warning section is divided into an obstacle section and an open section by detecting obstacles in the area between the collision warning section and the target vehicle. When there is an obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the lane intersection. When there is no obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the target lane. In this way, not only a reference object is determined based on whether there is an obstacle in the area between the collision warning section and the target vehicle, but also a vehicle collision warning is performed based on the distance between the obstacle and the reference object. From two aspects, when the vehicle is in danger of collision, a warning is given to the user. Compared with broadcasting each confluence entrance to the user, invalid warning information is filtered, and the intelligent warning mechanism of the confluence entrance is realized, which prevents users from being distracted or ignoring invalid warning information, thereby reducing the risk of collision of vehicles at the confluence entrance.

[0090] Combination Figure 4 As shown, the embodiment of the present disclosure provides a vehicle collision warning system for merging lanes, comprising:

[0091] The acquisition module 401 is used to acquire a collision warning section between a target vehicle and a lane intersection, wherein the target vehicle is traveling in a current lane, and the current lane intersects with the target lane at the lane intersection;

[0092] The detection module 402 is used to perform obstacle detection on the area between the collision warning section and the target lane, and divide the collision warning section into an obstacle section and an open section according to the obstacle detection result, wherein there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane;

[0093] The first warning module 403 is used to issue a vehicle collision warning according to the intersection distance between the target vehicle and the lane intersection if the target vehicle is traveling on an obstacle section;

[0094] The second warning module 404 is used to detect obstacles in the target lane through a vehicle sensor installed on the target vehicle if the target vehicle is traveling on an open road section, obtain obstacles in the target lane, and issue a vehicle collision warning based on the obstacle distance between the target vehicle and the obstacle in the target lane.

[0095] The vehicle collision warning system for merging lanes provided by the embodiment of the present disclosure is used to divide the collision warning section into an obstacle section and an open section by detecting obstacles in the area between the collision warning section and the target vehicle. Thus, when there is an obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the lane intersection, and when there is no obstacle between the obstacle section and the target lane, a vehicle collision warning is performed based on the intersection distance between the obstacle section and the target lane. In this way, not only is a reference object determined based on whether there is an obstacle in the area between the collision warning section and the target vehicle, but a vehicle collision warning is also performed based on the distance between the obstacle and the reference object. From two aspects, when the vehicle is in danger of collision, a warning is given to the user. Compared with broadcasting each confluence entrance to the user, invalid warning information is filtered, and the intelligent confluence entrance warning mechanism is realized, preventing users from being distracted or ignoring invalid warning information, thereby reducing the risk of collision of vehicles at the confluence entrance.

[0096] The embodiment of the present disclosure also provides a vehicle terminal, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the vehicle terminal executes the above method.

[0097] Figure 5 The structure diagram of the computer system of the vehicle terminal suitable for implementing the embodiment of the present application is shown. It should be noted that: Figure 5 The computer system 500 of the vehicle terminal shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0098] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage part 508 to the random access memory (RAM) 503, such as executing the method in the above embodiment. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0099] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read therefrom is installed into the storage section 508 as needed.

[0100] The vehicle terminal disclosed in this embodiment includes a processor, a memory, a transceiver and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication with each other. The memory is used to store computer programs, the communication interface is used to communicate, and the processor and the transceiver are used to run computer programs so that the vehicle terminal executes each step of the above method.

[0101] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent possible changes only. Unless explicitly required, separate components and functions are optional, and the order of operation can be changed. Parts and sub-samples of some embodiments may be included in or replace parts and sub-samples of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates, the singular forms of "a", "an" and "the" are intended to include plural forms as well. Similarly, the term "and / or" as used in this application refers to any and all possible combinations of listings containing one or more associated ones. In addition, when used in the present application, the term "comprise" and its variants "comprises" and / or comprising refer to the presence of a stated sub-sample, whole, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components and / or groups of these. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the presence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same and similar parts between the various embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0102] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0103] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units can be only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present disclosure may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit.

[0104] The flowchart and block diagram in the accompanying drawings show the possible architecture, functions and operations of the system, method and computer program product according to the embodiment of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a part of the module, program segment or code contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. In the description corresponding to the flowchart and block diagram in the accompanying drawings, the operations or steps corresponding to different boxes can also occur in a different order from the order disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which can depend on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified functions or actions, or may be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A vehicle collision warning method for merging lanes, characterized in that: include: Acquire a collision warning road section between a target vehicle and a lane intersection, wherein the target vehicle is traveling in a current lane, and the current lane intersects with the target lane at the lane intersection; Performing obstacle detection on the area between the collision warning section and the target lane, and dividing the collision warning section into an obstacle section and an open section according to the obstacle detection result, wherein there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane; If the target vehicle is traveling on the obstacle section, a vehicle collision warning is issued according to the intersection distance between the target vehicle and the lane intersection; If the target vehicle is traveling on the open road section, obstacle detection is performed on the target lane by a vehicle sensor arranged on the target vehicle to obtain the target lane obstacle, and a vehicle collision warning is performed according to the obstacle distance between the target vehicle and the target lane obstacle.

2. The method according to claim 1, characterized in that Determine that the target vehicle is traveling in the current lane by: If the target vehicle is traveling on a vehicle road, then obtaining road information corresponding to the vehicle road, wherein the vehicle road is composed of driving lanes, and the road information includes the number of lanes corresponding to the driving lanes and the lane type corresponding to each of the driving lanes; Performing lane line recognition on the vehicle road to obtain lane line types corresponding to the lane lines, and determining lane edges corresponding to the driving lanes from the lane lines according to the lane line types and the lane types; Determining a current lane from each of the driving lanes according to the number of lanes and the lane type; If the target vehicle is located between lane edges of the current lane, it is determined that the target vehicle is traveling in the current lane.

3. The method according to claim 1, characterized in that The lane junction is determined by: Detection is performed according to preset intersection features, wherein the intersection features include at least one of a first feature, a second feature, and a third feature, the first feature includes that the lane line of the current lane changes from a solid line to a dashed line at the lane intersection, the second feature includes a guide line corresponding to the lane intersection, and the third feature includes that a road sign located at the lane intersection is marked with preset intersection information corresponding to the lane intersection; In response to detecting any junction feature, a lane junction is determined from the current vehicle according to the detected junction feature.

4. The method according to claim 3, characterized in that Detection is performed based on preset intersection features, including: Acquiring map data corresponding to the target vehicle; Determining whether there is a lane interaction point within a preset distance range of the target vehicle according to the map data; If there is a lane intersection point within a preset distance range of the target vehicle, detection is performed based on preset intersection features.

5. The method according to claim 3, characterized in that: In response to detecting any intersection feature, determining a lane intersection from the current vehicle according to the detected intersection feature, including: Obtaining the confidence corresponding to the intersection feature through a preset image recognition model, wherein the intersection feature is obtained by performing image recognition through the image recognition model; Calculating according to each of the confidence levels to obtain an average confidence level; If the average execution degree is greater than a preset average threshold, a lane intersection point is determined from the current vehicle according to a target feature, wherein the target feature is a lane intersection feature with the highest confidence.

6. The method according to claim 1, characterized in that Performing obstacle detection on the area between the collision warning section and the target lane includes: By means of a vehicle sensor disposed on the target vehicle, target object detection is performed on the area between the collision warning section and the target vehicle, and detection information output by the vehicle sensor is received; If the vehicle sensor does not output detection information, setting the obstacle detection result as an obstacle existing in the area between the collision warning section and the target vehicle; If the vehicle sensor outputs detection information, the obstacle detection result is set to mean that there is no obstacle in the area between the collision warning section and the target vehicle.

7. The method according to any one of claims 1 to 6, characterized in that: Providing a vehicle collision warning according to the intersection point distance between the target vehicle and the lane intersection point includes: Acquiring driving parameters of the target vehicle, wherein the driving parameters include vehicle speed and / or vehicle acceleration; Calculating according to the driving parameters to obtain a warning distance threshold, wherein there is a positive correlation between the vehicle speed and the warning distance threshold, and there is a positive correlation between the vehicle acceleration and the warning distance threshold; If the intersection distance between the target vehicle and the lane intersection is less than or equal to the warning distance threshold, the current warning strategy is matched according to the warning level corresponding to the warning distance threshold, and the current warning strategy is executed to perform a vehicle collision warning, wherein the warning distance threshold and the warning level are positively correlated.

8. The method according to any one of claims 1 to 6, characterized in that: Providing a vehicle collision warning according to the obstacle distance between the target vehicle and the target lane obstacle includes: Acquire movement parameters corresponding to the target vehicle and the target lane obstacle respectively, wherein the movement parameters include movement speed and movement angle; Calculating each of the movement parameters according to a preset collision direction to obtain collision direction velocities of the target vehicle and the target lane obstacle in the preset collision direction respectively; Calculating the obstacle distance between the target vehicle and the target lane obstacle according to each collision direction speed to obtain a collision time; A current warning strategy is matched according to the collision time, and the current warning strategy is executed to perform a vehicle collision warning.

9. A vehicle collision warning system for merging lanes, characterized in that: include: An acquisition module, used for acquiring a collision warning section between a target vehicle and a lane intersection, wherein the target vehicle is traveling in a current lane, and the current lane intersects with the target lane at the lane intersection; a detection module, configured to perform obstacle detection on the area between the collision warning section and the target lane, and divide the collision warning section into an obstacle section and an open section according to the obstacle detection result, wherein there is an obstacle between the obstacle section and the target lane, and there is no obstacle between the open section and the target lane; A first warning module, configured to provide a vehicle collision warning according to an intersection point distance between the target vehicle and the lane intersection point if the target vehicle is traveling on the obstacle section; The second warning module is used to detect obstacles in the target lane through a vehicle sensor arranged on the target vehicle if the target vehicle is traveling on the open road section, obtain obstacles in the target lane, and issue a vehicle collision warning according to the obstacle distance between the target vehicle and the obstacle in the target lane.

10. A vehicle terminal, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the vehicle terminal executes the method according to any one of claims 1 to 8.

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