Early warning method based on driving blind area and related equipment

Abstract

The invention provides an early warning method based on a driving blind area and related equipment, and the method comprises the steps: determining the driving blind area of a vehicle in the driving process, and recognizing a to-be-detected vehicle in the driving blind area; receiving first driving behavior information of the to-be-detected vehicle, and detecting whether the to-be-detected vehicle has an overtaking intention according to the first driving behavior information; acquiring second driving behavior information of the vehicle, and detecting whether the vehicle has a lane changing intention or not according to the second driving behavior information; under the condition that the to-be-detected vehicle has the overtaking intention and the vehicle does not have the lane changing intention, first early warning information is generated, and the first early warning information is displayed to a driver according to a first display strategy; and under the condition that the to-be-detected vehicle has the overtaking intention and the vehicle has the lane changing intention, generating second early warning information, and displaying the second early warning information to the driver according to a second display strategy. According to the method, the potential collision conflict condition can be predicted in real time, early warning information is sent out in advance, and more abundant lane changing response time is provided for a driver.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a warning method based on driving blind spots and related equipment. Background Art

[0002] BSD (Blind Spot Detection) is an important function in intelligent driving, which is used to assist the driver in identifying potential risk vehicles in the blind spot behind the vehicle. Traditional blind spot detection strategies mainly rely on on-board sensors, such as millimeter-wave radar and cameras, to monitor the rear blind spots on both sides of the vehicle and warn users when there is a risk of changing lanes, so as to improve driving safety.

[0003] The blind spot detection function of the current traditional sensor solution can basically meet the needs of users in urban commuting or high-speed traffic scenarios. However, for complex traffic scenarios, such as dense traffic or bad weather, the sensor's detection range and accuracy will be significantly limited, resulting in a decline in functional performance and an inability to accurately provide alarm information. Therefore, the existing blind spot detection function urgently needs to be improved. Summary of the invention

[0004] In view of this, the present application provides a warning method and related equipment based on driving blind spots, which can preset and predict potential collision and conflict situations according to vehicle behavior data, thereby issuing warning information in advance.

[0005] A first aspect of an embodiment of the present application provides a warning method based on a driving blind spot, comprising: Determine the driving blind spot of the vehicle during driving, and identify the vehicle to be detected in the driving blind spot; receive first driving behavior information of the vehicle to be detected, and detect whether the vehicle to be detected has an intention to overtake according to the first driving behavior information; obtain second driving behavior information of the vehicle, and detect whether the vehicle has an intention to change lanes according to the second driving behavior information; if the vehicle to be detected has an intention to overtake and has an intention to change lanes, generate first warning information, and display the first warning information to the driver according to a first display strategy; if the vehicle to be detected has an intention to overtake and has no intention to change lanes, generate second warning information, and display the second warning information to the driver according to a second display strategy.

[0006] Compared with the related art, the embodiments of the present application have at least the following advantages: This application receives the first driving behavior information, detects the overtaking intention of the vehicle to be detected according to the first driving behavior information, and realizes the preliminary judgment of the vehicle to be detected, thereby reducing the frequent warning of the vehicle to be detected in the driving blind spot in the related technology. At the same time, the lane change intention is detected according to the second driving behavior information, and the risk of the vehicle to be detected is further classified according to the lane change intention. When the vehicle to be detected has the intention to overtake and the vehicle has the intention to change lanes, it is judged that the vehicle to be detected has no collision risk to overtake the self-vehicle, and the first warning information is generated. When the vehicle to be detected has the intention to overtake and the vehicle has no intention to change lanes, it is judged that the vehicle to be detected has a collision risk to overtake the self-vehicle, and the second warning information is generated. The warning scene is subdivided according to whether there is a collision risk to overtake the self-vehicle, and the driver is warned using the corresponding display strategy according to different warning information, so as to facilitate the driver to judge the current scene and reduce the probability of false alarm of the warning.

[0007] Optionally, the driving blind spot includes at least: an adjacent lane blind spot and a self-lane blind spot, and detecting whether the vehicle to be detected has an intention to overtake based on the first driving behavior information, including: when the vehicle to be detected is in the adjacent lane blind spot and the first driving behavior information meets the acceleration overtaking condition, determining that the vehicle to be detected has an intention to overtake; when the vehicle to be detected is in the self-lane blind spot and the first driving behavior information meets the lane change and speeding condition, determining that the vehicle to be detected has an intention to overtake.

[0008] Optionally, the first driving behavior information includes: one or more of: the driving speed of the vehicle to be detected, the acceleration of the vehicle to be detected, the throttle opening and closing degree of the vehicle to be detected, the turn signal state of the vehicle to be detected, the steering wheel turning angle and the tire turning angle of the vehicle to be detected; the first driving behavior information meets the acceleration overtaking condition, including: the driving speed of the vehicle to be detected is greater than the driving speed of the vehicle, and / or, the acceleration of the vehicle to be detected is greater than the acceleration of the vehicle, and / or, the throttle opening and closing degree is greater than a preset throttle opening and closing degree; the first driving behavior information meets the lane change overspeeding condition, including: the turn signal state of the vehicle to be detected is that the turn signal on the same side is on, and / or, the steering wheel turning angle is greater than a preset angle, and / or, the same-side turning angle of the tire turning angle is greater than the preset same-side turning angle.

[0009] Optionally, the second driving behavior information includes: one or more of the vehicle's turn signal status, the vehicle's steering wheel rotation angle and the tire angle, and detecting whether the vehicle has an intention to change lanes based on the second driving behavior information, including: when the turn signal status is that the turn signal on the same side is on, and / or the steering wheel rotation angle is greater than a preset angle, and / or the same-side turning angle of the tire angle is greater than a preset same-side turning angle, determining that the vehicle has an intention to change lanes.

[0010] Optionally, displaying the first warning information to the driver according to the first display strategy includes: receiving the second warning information, switching the first warning information to the second warning information, and displaying the second warning information to the driver according to the second display strategy.

[0011] Optionally, the method also includes canceling the warning information, the warning information includes the first warning information and / or the second warning information, and canceling the warning information includes: determining the risk vehicle from the vehicles to be detected based on the warning information; when the risk vehicle exceeds the blind spot of the vehicle to be detected; and / or detecting whether the risk vehicle has the intention to overtake, and canceling the warning information when the risk vehicle does not have the intention to overtake.

[0012] Optionally, before receiving the first driving behavior information of the vehicle to be detected, it also includes: detecting whether there is V2I information, where the V2I information is first environmental information sent by preset road facilities; receiving second environmental information detected by the vehicle, and verifying the second environmental information according to the first environmental information when V2I information exists; receiving V2X information at preset time intervals, where the V2X information is a working parameter sent by a V2X device; and generating the first driving behavior information according to the verified second environmental information and working parameters.

[0013] A second aspect of the present application provides a vehicle, the vehicle comprising: an identification unit, a first detection unit, a second detection unit, a first warning unit and a second warning unit; An identification unit, used to determine the blind spot of the vehicle during driving and identify the vehicle to be detected in the blind spot; A first detection unit is used to receive first driving behavior information of the vehicle to be detected, and detect whether the vehicle to be detected has an overtaking intention according to the first driving behavior information; a second detection unit, configured to obtain second driving behavior information of the vehicle, and detect whether the vehicle has an intention to change lanes according to the second driving behavior information; A first warning unit, configured to generate a first warning message when the vehicle to be detected has an intention to overtake and has no intention to change lanes, and to display the first warning message to the driver according to a first display strategy; The second warning unit is used to generate a second warning message when the vehicle to be detected has an intention to overtake and has no intention to change lanes, and to display the first and second warning messages to the driver according to a second display strategy.

[0014] In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the warning method based on driving blind spots as in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the warning method based on driving blind spots as in the first aspect.

[0016] The technical effects obtained by the above-mentioned second, third and fourth aspects are similar to the technical effects obtained by the corresponding technical means in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of the steps of a warning method based on driving blind spots provided in one embodiment of the present application.

[0018] Figure 2 A schematic diagram of a driving blind spot provided in one embodiment of the present application.

[0019] Figure 3 A flowchart of the steps of a warning method based on driving blind spots provided in yet another embodiment of the present application.

[0020] Figure 4 A flowchart of the steps of a warning method based on driving blind spots provided in yet another embodiment of the present application. Figure 5 A functional module diagram of an obstacle avoidance device for negative obstacles provided in one embodiment of the present application.

[0021] Figure 6 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0025] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0026] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0028] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given by way of example for reference.

[0029] As an essential vehicle-mounted device in the field of vehicle-road collaboration, V2X (Vehicle to everything) equipment can provide communication between vehicles, between roads, and between vehicles and the cloud. To realize these basic functions in V2X equipment, the positioning and time information provided by the GPS module in the V2X equipment is required. For V2X equipment, ordinary GPS modules are generally sufficient.

[0030] V2I (Vehicle-to-Infrastructure) refers to the communication technology between vehicles and infrastructure. Through wireless communication, V2I technology enables vehicles to receive real-time traffic information, road conditions, weather conditions, and road construction information from infrastructure such as traffic lights, cameras, and lane signs, thereby helping drivers make safer driving decisions and improving traffic efficiency and safety.

[0031] BSD (Blind Spot Detection) is one of the important functions of Level 2 intelligent driving, which is used to assist the driver in identifying potential risk vehicles in the blind spot behind the vehicle. Traditional blind spot detection strategies mainly rely on on-board sensors, such as millimeter-wave radar and cameras, to monitor the rear blind spots on both sides of the vehicle and warn users when there is a risk of changing lanes, so as to improve driving safety.

[0032] The embodiment of the present application provides a warning method and related equipment based on driving blind spots, which can predict potential collision and conflict situations according to vehicle behavior data, thereby issuing warning information in advance.

[0033] The specific process of the warning method based on driving blind spots in this application is as follows Figure 1 As shown, the following steps are included: Step 110, determining the driving blind spot of the vehicle during driving, and identifying the vehicle to be detected in the driving blind spot.

[0034] When the vehicle is driving, the driving blind spot is generated in real time based on the driver's visual blind spot, with the vehicle body as the center. The driving blind spot is the area where the driver cannot judge the driving conditions of surrounding vehicles. The visual blind spot can be stored in the storage system of the vehicle's central control or in the auxiliary driving system. When the vehicle is started, the auxiliary driving system reads the visual blind spot from the storage system.

[0035] Driving blind spots include but are not limited to: one or more of the front blind spot, rear blind spot, side blind spot and rearview mirror blind spot. Due to the presence of the hood, the driver cannot see the area in front of the front of the vehicle, especially the part close to the vehicle, which results in the inability to promptly detect pedestrians or obstacles in front of the front within the front blind spot. The rear blind spot of the vehicle refers to the area that the driver cannot directly see through the rearview mirror, especially when reversing, which is prone to scratches or collisions. The side blind spots of the vehicle body are mainly the blind spots on both sides of the vehicle, which are mainly caused by the design of the doors and pillars. When changing lanes or turning, the driver may not be able to see vehicles or pedestrians approaching from the side. The rearview mirror blind spot, because the rearview mirror can only cover part of the field of vision, especially when driving at high speeds or changing lanes, the rearview mirror blind spot may cause the driver to be unable to see vehicles approaching quickly from the rear.

[0036] It should be noted that how to generate a driving blind area based on a visual blind area is described in detail in subsequent embodiments, such as referring to Figure 2 , in order to avoid repetition, it will not be repeated here.

[0037] For ease of understanding, the following is a detailed description of how to determine the vehicle to be detected in this embodiment: When vehicle A is driving, vehicle A identifies all vehicles in the driving blind spot and regards all vehicles in the driving blind spot as vehicles to be detected for the next step of processing.

[0038] It is understandable that this embodiment does not specifically limit the method for identifying the vehicle to be detected. For example, the vehicle can search for the vehicle to be detected through radar, laser sensor, etc., or identify the vehicle to be detected through vehicle information sent by navigation.

[0039] Step 120 , receiving first driving behavior information of the vehicle to be detected, and detecting whether the vehicle to be detected has an overtaking intention based on the first driving behavior information.

[0040] The vehicle receives the first driving behavior information in real time during driving, and the first driving behavior information includes but is not limited to dynamic data such as position, speed, direction and acceleration. In the related art, vehicle sensors are often used to identify the first driving behavior information of other vehicles. When detecting the first driving behavior information of other vehicles, the vehicle sensors are easily affected by the environment. For example, when encountering severe weather conditions (such as rain, snow, fog) or interference from strong reflective objects (such as tunnels, metal fences, etc.), the performance of the sensor will be weakened, thereby causing misjudgment of the driving behavior information.

[0041] Optionally, this embodiment uses V2X communication technology to obtain the first driving behavior information, and obtains the first driving behavior information uploaded by other vehicles to the V2X device from the V2X device through the V2X communication technology, so that the accuracy of the first driving behavior information is not affected by environmental factors during the driving of the vehicle. By using V2X information, information sharing between vehicles can be achieved, thereby overcoming the limitations of using sensors to detect the first driving behavior in related technologies, and by using the communication capabilities between vehicles, the perception range can be expanded and the detection accuracy can be improved.

[0042] Among them, in the related technology, as long as there is a vehicle to be detected in the blind spot, an early warning will be generated, even if the vehicle to be detected is only following the vehicle at a constant speed in the rear blind spot, has no intention of overtaking the vehicle, and does not pose a collision risk to the vehicle. This behavior of frequently generating early warning information can easily cause the driver to misjudge the driving conditions.

[0043] In this embodiment, the overtaking intention is detected based on the first driving behavior information. When there is an overtaking intention, the risky vehicle that poses a risk of collision to the vehicle is determined, and warning information is only generated for the risky vehicle to be detected, thereby reducing the risk of misjudgment of the warning information by the driver.

[0044] For a specific embodiment of detecting whether the vehicle to be detected has an overtaking intention according to the first driving behavior information, see Figure 3 , I will not go into details here.

[0045] Step 130: Acquire second driving behavior information of the vehicle, and detect whether the vehicle has an intention to change lanes based on the second driving behavior information.

[0046] Since the risk of collision will be further increased when the vehicle changes lanes, in order to further reduce the false triggering of warning information and improve the classification of warning information, it is necessary to judge the vehicle's lane changing intention based on the second driving behavior information, thereby distinguishing the warning scenario of the vehicle and detecting the lane changing intention.

[0047] This embodiment detects the lane change intention based on the second driving behavior information, thereby determining the risk vehicle that has a collision risk with the vehicle, thereby reducing the risk of misjudgment of the warning.

[0048] For a specific embodiment of detecting lane change intention according to the second driving behavior information, see Figure 4 , I will not go into details here.

[0049] Step 140: When the vehicle to be detected has an intention to overtake and has no intention to change lanes, generate a first warning message, and display the first warning message to the driver according to a first display strategy.

[0050] The autonomous driving system or assisted driving system can generate preliminary warning information upon receiving the detection result of overtaking intention. However, there may be multiple overtaking vehicles to be detected in the traffic scene. At this time, it is necessary to classify the initial warning information based on the vehicle's lane change intention to obtain the first warning information or the second warning information, so that the vehicle can give priority to emergency warning information when multiple warning information are determined.

[0051] It should be noted that how to display the first warning information to the driver according to the first display strategy is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0052] Step 150: When the vehicle to be detected has an intention to overtake and an intention to change lanes, a second warning message is generated, and the second warning message is displayed to the driver according to a second display strategy.

[0053] The risk of the second warning information is greater than the risk of the first warning information. The lane change intention of the vehicle is detected according to the second driving behavior information. When there is a lane change intention, a risk vehicle with a collision risk for the vehicle changing lane is determined. Since the lane change behavior of the vehicle needs to be carried out immediately, it is necessary to determine the lane change of the vehicle and deal with the collision risk of the vehicle changing lane immediately.

[0054] It should be noted that how to display the second warning information to the driver according to the second display strategy is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0055] In one embodiment, the driving blind spot includes an adjacent lane blind spot and a own lane blind spot.

[0056] like Figure 2 As shown, Figure 2 Includes: the blind spots of adjacent lanes (110 for the adjacent left lane and 120 for the adjacent right lane) and 200 for the own lane. Line B is parallel to the rear edge of the own vehicle and is 3.0m away from the rear edge of the own vehicle; Line C is parallel to the front edge of the own vehicle and is located at the center of the 95th percentile driver's eye ellipse; Line D is the extension of the front edge of the own vehicle; Line E is parallel to the center line of the own vehicle and is tangent to the outermost edge of the left body of the own vehicle, and the outermost edge on the left does not include the exterior rearview mirror. Line F is on the left side of the own vehicle, parallel to the center line of the own vehicle and is 0.5m away from the outermost edge of the left body of the own vehicle. Line G is on the left side of the own vehicle, parallel to the center line of the own vehicle and is 3.0m away from the outermost edge of the left body of the own vehicle. Line H is on the left side of the own vehicle, parallel to the center line of the own vehicle and is 6.0m away from the outermost edge of the left body of the own vehicle. Line J is parallel to the center line of the own vehicle and is tangent to the outermost edge of the right body of the own vehicle, and the outermost edge on the right does not include the exterior rearview mirror. The K line is on the right side of the vehicle, parallel to the center line of the vehicle and 0.5m away from the outermost edge of the right side of the vehicle. The L line is on the right side of the vehicle, parallel to the center line of the vehicle and 3.0m away from the outermost edge of the right side of the vehicle. The M line is on the right side of the vehicle, parallel to the center line of the vehicle and 6.0m away from the outermost edge of the right side of the vehicle. The N line is the extension line of the rear edge of the vehicle. Figure 2 A self-lane blind spot 200 is also generated behind the adjacent lane blind spot.

[0057] Compared with the related art which only monitors the adjacent lanes on both sides for detection information, the present application not only considers detecting the driving blind spots of the lanes on both sides, but also adds detection of the blind spots of the own lane, thereby increasing the detection range.

[0058] In one embodiment, if Figure 3 As shown, step 120 detects whether the vehicle to be detected has an overtaking intention according to the first driving behavior information, including: Step 121 : when the vehicle to be detected is in a blind spot of an adjacent lane and the first driving behavior information meets the acceleration overtaking condition, it is determined that the vehicle to be detected has an overtaking intention.

[0059] Among them, the first driving behavior information includes: one or more of the driving speed of the vehicle to be detected, the acceleration of the vehicle to be detected, the throttle opening and closing degree of the vehicle to be detected, the turn signal status of the vehicle to be detected, the steering wheel rotation angle and the tire turning angle of the vehicle to be detected.

[0060] In this embodiment, the first driving behavior information meets the acceleration overtaking conditions, including: the driving speed of the vehicle to be detected is greater than the driving speed of the vehicle, and / or the acceleration of the vehicle to be detected is greater than the acceleration of the vehicle, and / or the throttle opening degree is greater than the preset throttle opening degree.

[0061] For example, when the speed of the vehicle to be detected is greater than the speed of the vehicle, it is judged that the vehicle has the intention to overtake. When the vehicle is traveling at 60km / h, the vehicle to be detected in the adjacent lane is following the vehicle at a constant speed of 60km / h or less behind the vehicle. At this time, the vehicle to be detected has no intention to accelerate. At this time, the lane change of the vehicle is actually risk-free, and there is no need to remind the driver to pay attention to the oncoming vehicle; only when the rear vehicle is accelerating or the speed is greater than the vehicle, there is a risk of collision with the lane change of the vehicle, and an early warning is required. For the accelerated target vehicle in the adjacent lane, it is not necessary to determine whether it is overtaking to the lane or accelerating in the original lane, because for the vehicle, there is a possible risk of driving collision. Therefore, it is only necessary to detect the acceleration intention of the vehicle to be detected. For example, query the speed table value, make a step limit according to the speed of the vehicle / target vehicle, and obtain the acceleration of the vehicle to be detected. When the acceleration of the vehicle to be detected is greater than the acceleration of the vehicle, a warning message is generated. For example, by looking up the speed lookup table, the preset opening degree is 40%. When the throttle opening degree of the vehicle to be detected is greater than 40%, the vehicle to be detected has the intention of overtaking.

[0062] Step 122: When the vehicle to be detected is in the blind spot of its own lane and the first driving behavior information meets the lane change and speeding condition, it is determined that the vehicle to be detected has an overtaking intention.

[0063] In this embodiment, the first driving behavior information meets the lane change speeding condition, including: the turn signal state of the vehicle to be detected is that the same-side turn signal is on, and / or the steering wheel rotation angle is greater than a preset angle, and / or the same-side turning angle of the tire turning angle is greater than a preset same-side turning angle.

[0064] In one embodiment, the second driving behavior information includes: one or more of the vehicle's turn signal status, the vehicle's steering wheel rotation angle and the tire turning angle, and detecting the lane change intention based on the second driving behavior information includes: when the turn signal status is that the same-side turn signal is on, and / or the steering wheel rotation angle is greater than a preset angle, and / or the same-side turning angle of the tire turning angle is greater than the preset same-side turning angle, determining that the vehicle has the intention to change lanes.

[0065] In this embodiment, if the vehicle in the own lane wants to change lanes and overtake, the vehicle needs to turn on the turn signal or turn the steering wheel angle first, and at the same time, the vehicle tires turn, and by receiving the information of the tire angle, it is determined whether there is lateral speed. Secondly, the vehicle will also turn on the turn signal when turning. Therefore, when the turn signal is on, the steering wheel rotation angle is greater than the preset angle, or it is determined based on the turn signal on the same side that the rear vehicle is preparing to change lanes and overtake, the vehicle is judged to be overtaking.

[0066] In a specific application scenario, when the vehicle is preparing to change lanes, the driver will turn the steering wheel. The vehicle is equipped with a steering wheel angle sensor. According to the steering wheel angle sensor, the steering wheel turning angle and speed can be monitored in real time. When turning, the steering angle of the front wheels of the vehicle changes. By monitoring the steering angle of the front wheels, it can be identified whether the vehicle intends to change lanes. Optionally, during the lane change process, the steering angles of the left and right front wheels will change synchronously. By monitoring the tire angles, if the steering angles of the tires on the same side change consistently and continuously, it usually indicates that the vehicle is performing a lane change operation. The steering wheel turning angle and speed are important indicators for judging the intention to change lanes. If the steering wheel turns quickly and the angle is large, it means that the vehicle is preparing to change lanes.

[0067] Optionally, the vehicle may also be equipped with a tire angle sensor, which can be used to obtain more precise steering information, thereby more accurately determining the lane change intention. The use of turn signals is a clear signal for lane change, and the vehicle's lane change and overtaking intention can also be obtained by real-time monitoring of the turn signal status of the turn signal.

[0068] Optionally, the vehicle is equipped with radar and cameras that can monitor the surrounding environment in real time, including vehicles and obstacles in adjacent lanes. When the system detects that there is enough space in the adjacent lane, combined with the current state of the vehicle, it can determine the possibility of changing lanes.

[0069] In one embodiment, if Figure 4 As shown, step 140, displaying the first warning information to the driver according to the first display strategy, includes: Step 141, receiving the second warning information, switching the first warning information to the second warning information, and displaying the second warning information to the driver according to the second display strategy.

[0070] The first warning message is used to remind the driver of the vehicle that there is a vehicle in the blind spot behind him, and to prevent scratches. The risk level of the second priority is greater than the risk level of the first priority. The second warning message is used to monitor and prevent the vehicle and the following vehicle from changing lanes at the same time. When the first warning message and the second warning message appear at the same time, the second warning message is processed first. For example, there are two vehicles to be detected on the left, one vehicle to be detected triggers the first warning message, and the other vehicle to be detected triggers the second warning message, then the second warning message will be processed first.

[0071] Optionally, when the vehicle triggers the first warning information, the first display strategy includes: the vehicle-mounted large screen prompts the driver to pay attention to the vehicle in the adjacent lane through a driving animation, and the driving animation includes the distance near the vehicle. When the vehicle triggers the secondary alarm, the second display strategy includes: the vehicle-mounted large screen displays the animation prompt and warns the driver of the risk of changing lanes through more obvious sound and light alarms.

[0072] It should be noted that the vehicle needs to continuously and in real time execute steps 110 to 150. As long as any vehicle within the detection range is received, the above risk judgment needs to be made until the vehicle to be detected completely leaves the monitoring range.

[0073] In one embodiment, the above method includes, after generating the first warning information and / or generating the second warning information: canceling the warning information, the warning information including the first warning information and / or the second warning information; canceling the warning information includes: determining a risk vehicle from the vehicles to be detected based on the warning information; canceling the warning information when the risk vehicle exceeds the driving blind spot; and / or canceling the warning information when the risk vehicle has no intention of overtaking.

[0074] For example, based on the warning information, a vehicle with the intention of overtaking is determined as a risk vehicle from the vehicles to be detected. When the risk vehicle leaves, the alarm is lifted. For the situation of leaving the driving blind spot, the scene can be subdivided, such as a risk vehicle in the blind spot of the adjacent lane. Regardless of whether the risk vehicle accelerates to leave the alarm area of ​​the vehicle or suddenly decelerates to exit the alarm area behind the vehicle, the risk of the risk vehicle will be recorded.

[0075] If there is a risk vehicle for overtaking behind the self-lane, and if the risk vehicle fails to change lanes and fails to change lanes to the self-lane, the driver turns the steering wheel back and the target vehicle is still in the self-lane, then according to the first driving behavior information received by the V2X information, it is judged that the risk of the warning information of the risk vehicle has been lifted. Alternatively, when the risk vehicle has successfully overtaken and has entered the alarm area of ​​the adjacent lane, the vehicle has no overtaking risk at this time and the risk is also deemed to have been lifted.

[0076] In one embodiment, step 110: detect whether V2I information exists, where the V2I information is first environmental information sent by preset road facilities; receive second environmental information detected by the vehicle, and if V2I information exists, verify the second environmental information based on the first environmental information; receive V2X information at preset time intervals, where the V2X information is an operating parameter sent by a V2X device; and generate first driving behavior information based on the verified second environmental information and the operating parameters.

[0077] This embodiment replaces the original sensor perception scheme by receiving V2X information, so as to more accurately detect other vehicle information. Optionally, V2I information can also be used to further verify V2X information. V2X information is environmental information sent by preset road facilities on the road where the vehicle is traveling. The environmental information indication includes: basic information of road facilities, and transmits information such as the status of traffic lights, road icing warnings, speed limits, traffic congestion, and road construction warnings to passing vehicles. Through V2I information, it is possible to solve the problem of the sensor mistakenly outputting the vehicle to be detected due to reflection and refraction of road facilities. The second environmental information detected by the sensor is corrected by the first environmental information of the V2I information, and the V2X information is verified according to the corrected second environmental information. For example, V2X information detects multiple vehicles to be detected, and the corrected second environmental information can verify the number and identity of the vehicles.

[0078] In this embodiment, a priority for checking V2X information by the vehicle itself is established, and the V2X information is verified through V2I information and sensor information, thereby obtaining doubly verified V2X information and improving the confidence of the V2X information.

[0079] like Figure 5 As shown, the second aspect of the present application provides a vehicle 500 , which includes: an identification unit 510 , a first detection unit 520 , a second detection unit 530 , a first warning unit 540 and a second warning unit 550 .

[0080] The identification unit 510 is used to determine the driving blind area of ​​the vehicle during driving and identify the vehicle to be detected in the driving blind area.

[0081] The first detection unit 520 is used to receive first driving behavior information of the vehicle to be detected, and detect whether the vehicle to be detected has an overtaking intention according to the first driving behavior information.

[0082] The second detection unit 530 is used to obtain second driving behavior information of the vehicle, and detect whether the vehicle has an intention to change lanes according to the second driving behavior information.

[0083] The first warning unit 540 is used to generate a first warning message when the vehicle to be detected has an intention to overtake and has no intention to change lanes, and to display the first warning message to the driver according to a first display strategy.

[0084] The second warning unit 550 is used to generate a second warning message when the vehicle to be detected has an intention to overtake and has no intention to change lanes, and to display the first and second warning messages to the driver according to a second display strategy.

[0085] Please refer to Figure 6 , Figure 6 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0086] The electronic device 100 includes a memory 20, a processor 30, and a computer program 40 stored in the memory 20 and executable on the processor 30. When the processor 30 executes the computer program 40, the steps in the above-mentioned warning embodiment based on the driving blind spot are implemented, for example Figure 1 Steps 110 to 150 shown, or, Figure 3 Steps 110 to 150 shown, or, Figure 4 Steps 110 to 141 are shown.

[0087] Exemplarily, the computer program 40 may also be divided into one or more modules / units, one or more modules / units are stored in the memory 20 and executed by the processor 30. One or more modules / units may be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program 40 in the electronic device 100. For example, it may be divided into: Figure 5 The identification unit 510, the first detection unit 520, the second detection unit 530, the first warning unit 540 and the second warning unit 550 are shown.

[0088] Those skilled in the art will appreciate that the schematic diagram is merely an example of the electronic device 100 and does not constitute a limitation on the electronic device 100 . The electronic device 100 may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the electronic device 100 may also include input and output devices, network access devices, buses, etc.

[0089] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a single-chip microcomputer, or the processor 30 may also be any conventional processor, etc.

[0090] The memory 20 can be used to store the computer program 40 and / or the module / unit. The processor 30 realizes various functions of the electronic device 100 by running or executing the computer program and / or the module / unit stored in the memory 20 and calling the data stored in the memory 20. The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data (such as audio data) created according to the use of the electronic device 100, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0091] If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

Claims

1. A warning method based on driving blind spots, applied to vehicles, characterized in that: include: Determine the driving blind area of ​​the vehicle during driving, and identify the vehicle to be detected in the driving blind area; receiving first driving behavior information of the vehicle to be detected, and detecting whether the vehicle to be detected has an overtaking intention according to the first driving behavior information; acquiring second driving behavior information of the vehicle, and detecting whether the vehicle has an intention to change lanes according to the second driving behavior information; In a case where the vehicle to be detected has the intention to overtake and the vehicle does not have the intention to change lanes, generating first warning information, and displaying the first warning information to the driver according to a first display strategy; In the case that the vehicle to be detected has the intention to overtake and the vehicle has the intention to change lanes, second warning information is generated, and the second warning information is displayed to the driver according to a second display strategy.

2. The method according to claim 1, characterized in that The driving blind spot at least includes: an adjacent lane blind spot and a self-lane blind spot. The detecting whether the vehicle to be detected has an overtaking intention according to the first driving behavior information includes: When the vehicle to be detected is in the blind spot of the adjacent lane and the first driving behavior information meets the acceleration overtaking condition, determining that the vehicle to be detected has the overtaking intention; When the vehicle to be detected is in the blind spot of the own lane and the first driving behavior information meets the lane change and speeding condition, it is determined that the vehicle to be detected has the overtaking intention.

3. The method according to claim 2, characterized in that The first driving behavior information includes: one or more of the driving speed of the vehicle to be detected, the acceleration of the vehicle to be detected, the throttle opening and closing degree of the vehicle to be detected, the turn signal state of the vehicle to be detected, the steering wheel rotation angle of the vehicle to be detected, and the tire rotation angle of the vehicle to be detected; The first driving behavior information meets the acceleration overtaking condition, including: the driving speed of the vehicle to be detected is greater than the driving speed of the vehicle, and / or the acceleration of the vehicle to be detected is greater than the acceleration of the vehicle, and / or the throttle opening degree is greater than a preset throttle opening degree; The first driving behavior information meets the lane change and speeding condition, including: the turn signal state of the vehicle to be detected is that the same-side turn signal is turned on, and / or the steering wheel rotation angle is greater than a preset angle, and / or the same-side turning angle of the tire turning angle is greater than a preset same-side turning angle.

4. The method according to claim 1, characterized in that: The second driving behavior information includes: one or more of: a turn signal state of the vehicle, a steering wheel rotation angle of the vehicle, and a tire rotation angle of the vehicle. Detecting whether the vehicle has a lane change intention according to the second driving behavior information includes: When the turn signal state is that the turn signal on the same side is turned on, and / or the steering wheel rotation angle is greater than a preset angle, and / or the same-side turning angle of the tire turning angle is greater than a preset same-side turning angle, it is determined that the vehicle has the intention to change lanes.

5. The method according to claim 1, characterized in that The displaying the first warning information to the driver according to the first display strategy includes: The second warning information is received, the first warning information is switched to the second warning information, and the second warning information is displayed to the driver according to the second display strategy.

6. The method according to claim 1, characterized in that The method further includes: cancelling the warning information, the warning information including the first warning information and / or the second warning information; cancelling the warning information includes: Determine risky vehicles from the vehicles to be detected according to the warning information; In the case where the risk vehicle exceeds the driving blind spot of the vehicle to be detected; and / or, Detecting whether the risk vehicle has the overtaking intention, and canceling the warning information when the risk vehicle does not have the overtaking intention.

7. The method according to claim 1, characterized in that Before receiving the first driving behavior information of the vehicle to be detected, the method further includes: Detecting whether there is V2I information, wherein the V2I information is first environmental information sent by a preset road facility; receiving second environmental information detected by the vehicle, and verifying the second environmental information according to the first environmental information in the case where the V2I information exists; receiving V2X information at every preset time period, wherein the V2X information is an operating parameter sent by the V2X device; The first driving behavior information is generated according to the verified second environment information and the working parameters.

8. A vehicle, characterized in that: The vehicle comprises: an identification unit, a first detection unit, a second detection unit, a first warning unit and a second warning unit; The identification unit is used to determine the driving blind area of ​​the vehicle during driving and identify the vehicle to be detected in the driving blind area; The first detection unit is used to receive the first driving behavior information of the vehicle to be detected, and detect whether the vehicle to be detected has an overtaking intention according to the first driving behavior information; The second detection unit is used to obtain second driving behavior information of the vehicle, and detect whether the vehicle has an intention to change lanes according to the second driving behavior information; The first warning unit is used to generate a first warning message when the vehicle to be detected has the intention to overtake and the vehicle does not have the intention to change lanes, and to display the first warning message to the driver according to the first display strategy; The second warning unit is used to generate second warning information when the vehicle to be detected has the intention to overtake and the vehicle has the intention to change lanes, and display the second warning information to the driver according to the second display strategy.

9. An electronic device, comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the warning method based on driving blind spots as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on an electronic device, the electronic device executes the warning method based on driving blind spots as described in any one of claims 1 to 7.

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