Method and device for determining lane changing risk and storage medium

Abstract

The invention discloses a method and device for determining a lane changing risk and a storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that a first vehicle which is located in front of a lane where a lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle which is closer to the first vehicle, and a closest third vehicle which tries to cut into the lane where the lane-changing vehicle is located are searched; selecting a right ahead target vehicle from the first vehicle, the second vehicle and the third vehicle; in response to the obtained detection result that the lane changing vehicle has the front and side target vehicle, searching a vehicle closest to the front of the rear axle of the front and side target vehicle as a side front target vehicle, and searching a vehicle closest to the rear of the rear axle as a side rear target vehicle; acquiring a lane changing risk threshold value corresponding to the current lane changing state of the lane changing vehicle; and obtaining risk judgment results of the right ahead target vehicle, the right side target vehicle, the side front target vehicle and the side rear target vehicle according to the lane changing risk threshold. And the lane changing risk can be flexibly and timely judged.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle control technology, and in particular to a method, device and storage medium for determining lane change risk. Background Art

[0002] During vehicle driving, whether the driver changes lanes manually or the intelligent driving system changes lanes automatically, a lane change risk judgment is required to determine the safety of lane change and avoid collision with other vehicles. In the related art, only the collision risk between the vehicle and the vehicle in the target lane is considered, and the collision risk between the vehicle and the vehicle in the current lane is not considered. The judgment of lane change risk is not comprehensive enough; and in many cases, a fixed distance threshold and a fixed time threshold are used to judge whether there is a collision risk, which has poor flexibility and cannot adapt to road scenes with large dynamic changes; the execution of lane change decision is delayed by time hysteresis, which is easy to miss the opportunity to change lanes. At the same time, time hysteresis in scenes with collision risks is easy to cause lane change back lag, which increases the collision risk during lane change. Therefore, how to flexibly and timely judge lane change risks while fully considering collision risks is very important to ensure the safety of lane change and improve the success rate of lane change execution. Summary of the invention

[0003] The embodiments of the present application provide a method, device and storage medium for determining lane change risk, which can be used to ensure the safety of lane change and improve the success rate of lane change execution. The technical solution is as follows:

[0004] In one aspect, an embodiment of the present application provides a method for determining a lane change risk, the method comprising:

[0005] Searching for a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane-changing vehicle, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located;

[0006] Based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle, selecting a target vehicle directly ahead from among the first vehicle, the second vehicle, and the third vehicle;

[0007] Acquire a detection result of a front side target vehicle, wherein the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane-changing vehicle, and the front side target vehicle is a vehicle whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane;

[0008] In response to obtaining a detection result that there is a target vehicle directly behind the lane-changing vehicle, searching for a vehicle closest to the front of a rear axle of the target vehicle directly behind the lane-changing vehicle as the target vehicle directly ahead, and searching for a vehicle closest to the rear of the rear axle as the target vehicle directly behind;

[0009] Obtaining a lane changing risk threshold corresponding to a current lane changing state of the lane changing vehicle;

[0010] The risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle behind the side are obtained according to the lane change risk threshold, and the risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

[0011] In another aspect, a device for determining a lane change risk is provided, the device comprising:

[0012] A first search module is used to search for a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane-changing vehicle, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located;

[0013] a selection module, configured to select a target vehicle directly ahead from among the first vehicle, the second vehicle and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle;

[0014] A first acquisition module is used to acquire a detection result of a front side target vehicle, wherein the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane-changing vehicle, and the front side target vehicle is a vehicle whose length overlaps with the projection area of ​​the lane-changing vehicle in the target lane;

[0015] A second search module is used for, in response to obtaining a detection result that there is a target vehicle on the front side of the lane-changing vehicle, searching for a vehicle closest to the front of the rear axle of the target vehicle on the front side as the target vehicle on the front side, and searching for a vehicle closest to the rear of the rear axle as the target vehicle on the rear side;

[0016] A second acquisition module is used to acquire a lane changing risk threshold corresponding to a current lane changing state of the lane changing vehicle;

[0017] The third acquisition module is used to obtain the risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle behind the side according to the lane change risk threshold. The risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

[0018] On the other hand, a non-temporary computer-readable storage medium is also provided, characterized in that a computer program is stored in the computer-readable storage medium, and the computer program is loaded and executed by a processor to implement any of the above-mentioned methods for determining lane change risks.

[0019] On the other hand, a computer program product is also provided, the computer program product comprising computer instructions, and when the computer instructions are executed by a processor, the steps of any of the above-mentioned methods for determining lane change risk are implemented.

[0020] The technical solution provided by this application brings at least the following beneficial effects:

[0021] The present application selects a target vehicle directly in front from the first vehicle, the second vehicle and the third vehicle by searching for a first vehicle that is in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane where the lane-changing vehicle is located, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located; then determines whether there is a target vehicle directly on the side by obtaining the detection result of the target vehicle directly on the side; if there is a target vehicle directly on the side, searches for a target vehicle in front of the side and a target vehicle in the rear of the side based on the target vehicle directly on the side; then obtains a lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle, and makes risk judgments on the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle in the rear of the side based on the lane change risk threshold, so as to achieve flexible and timely lane change risk judgment while fully considering the collision risk, thereby ensuring the safety of lane change and improving the success rate of lane change execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a schematic diagram of an implementation environment provided by an embodiment of the present application;

[0024] Figure 2 is a flow chart of a method for determining lane change risk provided by an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of a lane where a lane-changing vehicle is located provided in an embodiment of the present application;

[0026] Figure 4 It is a structural schematic diagram of a device for determining lane change risk provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0028] This application embodiment provides a method for determining lane change risk, please refer to Figure 1 , which shows a schematic diagram of the implementation environment of the method provided in the embodiment of the present application. The implementation environment may include: ADDC (Autonomous Driving Domain Controller) 11, camera 12, radar device 13, ECU (Electronic Control Unit) 14 and vehicle display screen 15.

[0029] Optionally, the camera 12 is used to shoot a certain range in front of the lane-changing vehicle, and after the captured video image is recognized by the video recognition device, the information of other vehicles located in a certain range in front of the lane where the lane-changing vehicle is located, and other vehicles in a certain range in front of the lane-changing vehicle that attempt to cut into the lane where the lane-changing vehicle is located is sent to ADDC11. The camera 12 is installed in front of the vehicle.

[0030] Exemplarily, the radar device 13 is used to measure the distance between the lane-changing vehicle and other vehicles within a certain range and send it to ADDC11. ADDC11 searches for at least one of the vehicle closest to the lane-changing vehicle as the first vehicle, the vehicle second closest to the lane-changing vehicle as the second vehicle, and the nearest third vehicle attempting to cut into the lane where the lane-changing vehicle is located based on the information detected by the radar. The radar is installed in front of the vehicle.

[0031] In a possible implementation, ECU14 is used to obtain the driving speed of the lane-changing vehicle and send it to ADDC11, so that ADDC11 calculates the driving speed of the first vehicle, the second vehicle, and the third vehicle, and compares it with the speed of the target vehicle directly in front, the speed of the target vehicle directly on the side, the speed of the target vehicle in front of the side, and the speed of the target vehicle behind the side, so as to determine the method for obtaining the risk judgment result. ECU14 is also used to obtain the current lane-changing state of the lane-changing vehicle, so that ADDC11 obtains the lane-changing risk threshold.

[0032] Optionally, the vehicle-mounted display screen 15 is used to display the risk judgment result of each target vehicle after determining the risk judgment result of each target vehicle. Among them, the ADDC 11, the camera 12, the radar device 13, the ECU 14 and the vehicle-mounted display screen 15 establish a communication connection through a wired or wireless network.

[0033] Based on the above Figure 1In the implementation environment shown, the present application embodiment provides a method for determining lane change risk. Figure 2 As shown, taking the method applied to ADDC as an example, the method includes steps 201 to 206.

[0034] In step 201, ADDC searches for at least one of a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located.

[0035] In a possible implementation, ADDC uses a camera installed on the vehicle to shoot a certain range in front of the lane-changing vehicle, and then uses a video recognition device to recognize the shot video to find other vehicles within a certain range in front of the lane where the lane-changing vehicle is located, as well as other vehicles within a certain range in front of the lane-changing vehicle that attempt to cut into the lane where the lane-changing vehicle is located.

[0036] Exemplarily, the distance between the lane-changing vehicle and other vehicles within a certain range is measured by a radar device installed on the vehicle. The vehicle closest to the lane-changing vehicle is selected as the first vehicle, the vehicle second closest to the lane-changing vehicle is selected as the second vehicle, and at least one of the third vehicles closest to the lane where the lane-changing vehicle is located is selected. Optionally, the camera and the radar are installed in front of the vehicle. The time that the first vehicle and the second vehicle remain in the lane where the lane-changing vehicle is located must exceed the first time length and must be driven completely inside the lane where the lane-changing vehicle is located, and the third vehicle needs to be in a state of switching from the remaining lanes to the lane where the lane-changing vehicle is located.

[0037] Illustratively, if there is only one vehicle within a certain range in front of the lane where the lane-changing vehicle is located, it is confirmed that the first vehicle exists and the second vehicle does not exist; if there are no other vehicles within a certain range in front of the lane where the lane-changing vehicle is located, it is confirmed that both the first vehicle and the second vehicle do not exist; if there are no other vehicles attempting to cut into the lane where the lane-changing vehicle is located within a certain range in front of the lane-changing vehicle, it is confirmed that the third vehicle does not exist.

[0038] In step 202 , the ADDC selects a target vehicle directly ahead from among the first vehicle, the second vehicle, and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle.

[0039] Exemplarily, taking the existence of the first vehicle, the second vehicle and the third vehicle as an example, after identifying the first vehicle, the second vehicle and the third vehicle, ADDC selects a target vehicle directly in front from the first vehicle, the second vehicle and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle and a third distance between the lane-changing vehicle and the third vehicle, including: ADDC obtains the driving speed of the lane-changing vehicle, the driving speed of the first vehicle, the driving speed of the second vehicle and the driving speed of the third vehicle; in response to the driving speed of the lane-changing vehicle being greater than the driving speed of the first vehicle, the driving speed of the second vehicle and the driving speed of the third vehicle, calculates the time required for the lane-changing vehicle to collide with the first vehicle, the second vehicle and the third vehicle based on the first distance, the second distance and the third distance; and selects the vehicle with the shortest time required for the collision as the target vehicle directly in front.

[0040] In a possible implementation, ADDC obtains the driving speed of the lane-changing vehicle, the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle, including: ADDC obtains the driving speed of the lane-changing vehicle through the ECU. The first distance, the second distance, and the third distance are continuously monitored. If the distance gradually increases, it indicates that the driving speed of the vehicle is greater than the lane-changing vehicle; if the distance gradually decreases, it indicates that the driving speed of the vehicle is less than the lane-changing vehicle. Then, the driving speed of the first vehicle is calculated based on the driving speed of the lane-changing vehicle and the change of the first distance; the driving speed of the second vehicle is calculated based on the driving speed of the lane-changing vehicle and the change of the second distance; the driving speed of the third vehicle is calculated based on the driving speed of the lane-changing vehicle and the change of the third distance.

[0041] Exemplarily, after determining that the driving speed of the lane-changing vehicle is greater than the driving speeds of the first vehicle, the second vehicle, and the third vehicle, the time required for the lane-changing vehicle to collide with the first vehicle, the second vehicle, and the third vehicle is calculated based on the first distance, the second distance, and the third distance, including: substituting the driving speed of the lane-changing vehicle, the first distance and the driving speed of the first vehicle, the second distance and the driving speed of the second vehicle, and the third distance and the driving speed of the third vehicle into a formula for calculating the time required for a collision, and the formula for calculating the time required for a collision is as follows:

[0042]

[0043] Among them, TTC is the time required for a collision to occur, S obj is the first distance, the second distance or the third distance, v ego is the speed of the lane-changing vehicle, v obj It is the driving speed of the first vehicle, the driving speed of the second vehicle, or the driving speed of the third vehicle.

[0044] Optionally, after completing the time required for the first vehicle, the second vehicle and the third vehicle to collide, ADDC compares the time required for the first vehicle, the second vehicle and the third vehicle to collide, and selects the vehicle with the shortest time required for the collision as the target vehicle directly ahead.

[0045] In a possible implementation, in response to at least one of the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle being greater than the driving speed of the lane-changing vehicle, a vehicle corresponding to the closest distance among the first distance, the second distance, and the third distance is selected as the target vehicle directly ahead. Exemplarily, after determining that at least one of the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle is greater than the driving speed of the lane-changing vehicle, the ADDC compares the first distance, the second distance, and the third distance, and selects the vehicle corresponding to the closest distance among the first distance, the second distance, and the third distance as the target vehicle directly ahead.

[0046] In step 203, ADDC obtains the detection result of the front side target vehicle, and the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane changing vehicle. The front side target vehicle is a vehicle whose length overlaps with the projection area of ​​the lane changing vehicle in the target lane.

[0047] In a possible implementation, after completing the selection of the target vehicle directly in front, ADDC obtains the detection result of the target vehicle directly to the side, wherein the detection result of the target vehicle directly to the side is used to indicate whether there is a target vehicle directly to the side of the lane-changing vehicle, and the target vehicle directly to the side is a vehicle whose length overlaps with the area where the projection of the lane-changing vehicle is located in the target lane.

[0048] Optionally, after completing the selection of the target vehicle directly ahead, ADDC determines the length of the area where the projection of the lane-changing vehicle is located in the target lane through the video recognition device, and determines whether the length of the projection area overlaps with the other vehicles in the target lane. If the length of the projection area overlaps with the other vehicles in the target lane, ADR obtains the detection result that there is a target vehicle directly to the side of the lane-changing vehicle, and regards the overlapping vehicle as the target vehicle directly to the side; if the length of the projection area does not overlap with the other vehicles in the target lane, ADR obtains the detection result that there is no target vehicle directly to the side of the lane-changing vehicle.

[0049] In step 204, in response to the detection result that there is a target vehicle directly behind the lane-changing vehicle, ADDC searches for the vehicle closest to the front of the rear axle of the target vehicle directly behind the lane-changing vehicle as the target vehicle directly ahead, and searches for the vehicle closest to the rear of the rear axle as the target vehicle directly behind the lane-changing vehicle.

[0050] Exemplarily, after obtaining the detection result that there is a target vehicle directly behind the lane-changing vehicle, ADDC determines the position of the rear axle of the target vehicle directly behind the lane-changing vehicle through the video recognition device, searches for the vehicle closest to the front of the rear axle of the target vehicle directly behind the lane-changing vehicle as the target vehicle directly ahead, and searches for the vehicle closest to the rear of the rear axle as the target vehicle directly behind the lane-changing vehicle. Optionally, if there are no other vehicles within the second range in front of the rear axle of the target vehicle directly behind the lane-changing vehicle, it is confirmed that there is no target vehicle directly ahead of the lane-changing vehicle; if there are no other vehicles within the second range behind the rear axle of the target vehicle directly behind the lane-changing vehicle, it is confirmed that there is no target vehicle directly behind the lane-changing vehicle.

[0051] In a possible implementation, in response to obtaining a detection result that there is no direct side target vehicle for the lane-changing vehicle, ADDC searches for the vehicle closest to the front of the projection of the rear axle of the lane-changing vehicle in the target lane as the side-front target vehicle, and searches for the vehicle closest to the rear of the projection of the rear axle in the target lane as the side-rear target vehicle. Exemplarily, after obtaining a detection result that there is no direct side target vehicle for the lane-changing vehicle, ADDC determines the position of the projection of the rear axle of the lane-changing vehicle in the target lane through a video recognition device, searches for the vehicle closest to the front of the position of the projection of the rear axle in the target lane as the side-front target vehicle, and searches for the vehicle closest to the rear of the position of the projection of the rear axle in the target lane as the side-rear target vehicle.

[0052] Optionally, if there are no other vehicles within a second range in front of the projection of the target lane by the rear axle, ADDC confirms that there is no target vehicle in front of the lane-changing vehicle; if there are no other vehicles within a second range behind the projection of the target lane by the rear axle, ADDC confirms that there is no target vehicle behind the lane-changing vehicle.

[0053] In step 205 , the ADDC obtains a lane-changing risk threshold corresponding to the current lane-changing state of the lane-changing vehicle.

[0054] In a possible implementation, the lane change risk threshold includes a spacing threshold, a time interval threshold, and a duration threshold. After completing the identification of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side, and the target vehicle behind the side, the ADDC obtains the lane change risk threshold corresponding to the current lane change state of the lane change vehicle, including: obtaining the current lane change state of the lane change vehicle, the lane change state includes preparing to change lanes and changing lanes; in response to the lane change state being preparing to change lanes, using the first preset coefficient as the coefficient of the lane change risk threshold; in response to the lane change state being changing lanes, using the second preset coefficient as the coefficient of the lane change risk threshold, the second preset coefficient being greater than the first preset coefficient; determining the lane change risk threshold based on the calculation result of multiplying the coefficient of the lane change risk threshold by the fixed parameter.

[0055] Exemplarily, ADDC can obtain the current lane changing state of the lane changing vehicle through the ECU, wherein the lane changing state includes preparing to change lanes and changing lanes. If the lane changing state is preparing to change lanes, the first preset coefficient is used as the coefficient of the lane changing risk threshold; if the lane changing state is changing lanes, the second preset coefficient is used as the coefficient of the lane changing risk threshold, wherein the second preset coefficient is greater than the first preset coefficient; the coefficient of the lane changing risk threshold is calculated and multiplied by the fixed parameter corresponding to the distance to obtain the distance threshold, the coefficient of the lane changing risk threshold is calculated and multiplied by the fixed parameter corresponding to the time distance to obtain the time distance threshold, and the coefficient of the lane changing risk threshold is calculated and multiplied by the fixed parameter corresponding to the duration to obtain the duration threshold.

[0056] Optionally, the first preset coefficient and the second preset coefficient may be set based on experience, and it is necessary to satisfy that the second preset coefficient is greater than the first preset coefficient. For example, the first preset coefficient may be 1, and the second preset coefficient may be an integer greater than 1. Fixed parameters include, but are not limited to, fixed parameters corresponding to the spacing, fixed parameters corresponding to the time interval, and fixed parameters corresponding to the duration, which may all be preset based on actual conditions.

[0057] In step 206, ADDC obtains risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side, and the target vehicle behind the side according to the lane change risk threshold. The risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

[0058] Exemplarily, the risk judgment result is used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes. ADDC obtains the risk judgment results of the target vehicle directly in front, the target vehicle in front of the side, and the target vehicle behind the side according to the lane-changing risk threshold, including: when the speed of the target vehicle directly in front is greater than or equal to the speed of the lane-changing vehicle, in response to the distance between the target vehicle directly in front and the lane-changing vehicle being less than the distance threshold, or the risk time distance between the target vehicle directly in front and the lane-changing vehicle being less than the time distance threshold, ADDC obtains the risk judgment result that the target vehicle directly in front causes risk when the lane-changing vehicle changes lanes; and / or when the speed of the target vehicle in front of the side is greater than or equal to the speed of the lane-changing vehicle In the case of a vehicle speed, in response to the distance between the side front target vehicle and the lane changing vehicle being less than the distance threshold, or the risk time distance between the side front target vehicle and the lane changing vehicle being less than the time distance threshold, ADDC obtains a risk judgment result that the side front target vehicle causes a risk when the lane changing vehicle changes lanes; and / or in the case that the speed of the side rear target vehicle is greater than or equal to the speed of the lane changing vehicle, in response to the distance between the side rear target vehicle and the lane changing vehicle being less than the distance threshold, or the risk time distance between the side rear target vehicle and the lane changing vehicle being less than the time distance threshold, ADDC obtains a risk judgment result that the side rear target vehicle causes a risk when the lane changing vehicle changes lanes.

[0059] Optionally, if the speed difference between the speed of the lane-changing vehicle and the speed of the target vehicle directly ahead is less than a speed threshold, ADDC confirms that the speed of the lane-changing vehicle is equal to the speed of the target vehicle directly ahead; if the speed difference between the speed of the lane-changing vehicle and the speed of the target vehicle in front of the side is less than a speed threshold, ADDC confirms that the speed of the lane-changing vehicle is equal to the speed of the target vehicle in front of the side; if the speed difference between the speed of the lane-changing vehicle and the speed of the target vehicle behind the side is less than a speed threshold, ADDC confirms that the speed of the lane-changing vehicle is equal to the speed of the target vehicle behind the side. Optionally, the speed threshold can be set based on experience.

[0060] In a possible implementation, the method for calculating the risk time distance includes, but is not limited to: respectively substituting the speed of the lane-changing vehicle and the first distance, the second distance, or the third distance into a formula for calculating the risk time distance, and the formula for calculating the risk time distance is as follows:

[0061]

[0062] Among them, T is the risk time interval.

[0063] Exemplarily, after determining that the speed of the target vehicle directly ahead is greater than or equal to the speed of the lane-changing vehicle, the distance between the target vehicle directly ahead and the lane-changing vehicle is compared with the distance threshold, and the risk time distance between the target vehicle directly ahead and the lane-changing vehicle is compared with the time distance threshold. If at least one of the following conditions is satisfied: the distance between the target vehicle directly ahead and the lane-changing vehicle is less than the distance threshold, or the risk time distance between the target vehicle directly ahead and the lane-changing vehicle is less than the time distance threshold, the ADDC obtains a risk judgment result that the target vehicle directly ahead causes a risk when the lane-changing vehicle changes lanes.

[0064] In a possible implementation, after determining that the speed of the target vehicle in front of the side is greater than or equal to the speed of the lane-changing vehicle, the distance between the target vehicle in front of the side and the lane-changing vehicle is compared with a distance threshold, and the risk time distance between the target vehicle in front of the side and the lane-changing vehicle is compared with a time distance threshold. If at least one of the following conditions is satisfied: the distance between the target vehicle in front of the side and the lane-changing vehicle is less than the distance threshold, or the risk time distance between the target vehicle in front of the side and the lane-changing vehicle is less than the time distance threshold, the ADDC obtains a risk judgment result that the target vehicle in front of the side causes a risk when the lane-changing vehicle changes lanes.

[0065] Optionally, after determining that the speed of the side rear target vehicle is greater than or equal to the speed of the lane changing vehicle, the distance between the side rear target vehicle and the lane changing vehicle is compared with a distance threshold, and the risk time distance between the side rear target vehicle and the lane changing vehicle is compared with a time distance threshold. If at least one of the following conditions is satisfied: the distance between the side rear target vehicle and the lane changing vehicle is less than the distance threshold, or the risk time distance between the side rear target vehicle and the lane changing vehicle is less than the time distance threshold, the ADDC obtains a risk judgment result that the side rear target vehicle causes a risk when the lane changing vehicle changes lanes.

[0066] Exemplarily, ADDC obtains risk judgment results of the target vehicle directly in front, the target vehicle in front of the side, and the target vehicle behind the side according to the lane change risk threshold, and also includes: when the speed of the target vehicle directly in front is less than the speed of the lane-changing vehicle, in response to at least one of the distance between the target vehicle directly in front and the lane-changing vehicle being less than the distance threshold, or the duration of the collision between the target vehicle directly in front and the lane-changing vehicle being less than the duration threshold, obtaining the risk judgment result of the risk caused by the target vehicle directly in front when the lane-changing vehicle changes lanes; and / or when the speed of the target vehicle directly in front is less than the speed of the lane-changing vehicle, in response to at least one of the distance between the target vehicle directly in front and the lane-changing vehicle being less than the distance threshold, obtaining the risk judgment result of the risk caused by the target vehicle directly in front when the lane-changing vehicle changes lanes. When at least one of the distance between the front target vehicle and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the side front target vehicle and the lane-changing vehicle is less than a duration threshold, a risk judgment result of a risk caused by the side front target vehicle when the lane-changing vehicle changes lanes is obtained; and / or when the speed of the side rear target vehicle is less than the speed of the lane-changing vehicle, in response to at least one of the distance between the side rear target vehicle and the lane-changing vehicle being less than a distance threshold, or the duration of the collision between the side rear target vehicle and the lane-changing vehicle being less than a duration threshold, a risk judgment result of a risk caused by the side rear target vehicle when the lane-changing vehicle changes lanes is obtained.

[0067] In a possible implementation, after determining that the speed of the target vehicle directly ahead is less than the speed of the lane-changing vehicle, the distance between the target vehicle directly ahead and the lane-changing vehicle is compared with a distance threshold, and the duration of the collision between the target vehicle directly ahead and the lane-changing vehicle is compared with a duration threshold. If at least one of the distance between the target vehicle directly ahead and the lane-changing vehicle is less than the distance threshold, or the duration of the collision between the target vehicle directly ahead and the lane-changing vehicle is less than the duration threshold, the ADDC obtains a risk judgment result that the target vehicle directly ahead causes a risk when the lane-changing vehicle changes lanes.

[0068] Exemplarily, after determining that the speed of the target vehicle in front of the side is less than the speed of the lane-changing vehicle, the distance between the target vehicle in front of the side and the lane-changing vehicle is compared with the distance threshold, and the duration of the collision between the target vehicle in front of the side and the lane-changing vehicle is compared with the duration threshold. If the distance between the target vehicle in front of the side and the lane-changing vehicle is less than the distance threshold, or the duration of the collision between the target vehicle in front of the side and the lane-changing vehicle is less than at least one of the duration threshold, the ADDC obtains a risk judgment result that the target vehicle in front of the side causes a risk when the lane-changing vehicle changes lanes.

[0069] Optionally, after determining that the speed of the side rear target vehicle is less than the speed of the lane changing vehicle, the distance between the side rear target vehicle and the lane changing vehicle is compared with a distance threshold, and the duration of the collision between the side rear target vehicle and the lane changing vehicle is compared with a duration threshold. If the distance between the side rear target vehicle and the lane changing vehicle is less than the distance threshold, or the duration of the collision between the side rear target vehicle and the lane changing vehicle is less than at least one of the duration threshold, the ADDC obtains a risk judgment result that the side rear target vehicle causes a risk when the lane changing vehicle changes lanes.

[0070] In a possible implementation, ADDC obtains risk judgment results of the target vehicle directly ahead, the target vehicle directly ahead, and the target vehicle directly behind according to the lane change risk threshold, and further includes: in response to obtaining a detection result that there is a target vehicle directly behind the lane-changing vehicle, obtaining a risk judgment result that the target vehicle directly behind the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes. Exemplarily, if a detection result that there is a target vehicle directly behind the lane-changing vehicle is obtained, ADDC obtains a risk judgment result that the target vehicle directly behind the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes, that is, the target vehicle directly behind the lane-changing vehicle must be a risk to the lane-changing vehicle.

[0071] Exemplarily, after determining the risk assessment result of each target vehicle, the risk assessment result of each target vehicle may be displayed via an on-board display screen.

[0072] In summary, Figure 3 A schematic diagram of a lane where a lane-changing vehicle is located is provided as an example for illustration. Optionally, 1 is a lane-changing vehicle with an attempt to change lanes to the left lane; 2 is a third vehicle trying to cut into the lane where the lane-changing vehicle is located; 3 is the first vehicle located in front of the lane where the lane-changing vehicle is located and closest to the lane-changing vehicle; 4 is the second vehicle located in front of the lane where the lane-changing vehicle is located and second closest to the lane-changing vehicle; 6 is a target vehicle on the side; 5 is a target vehicle in front of the side; and 7 is a target vehicle on the rear.

[0073] The embodiment of the present application selects a target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle by identifying the first vehicle, the second vehicle, and the second vehicle that are located in front of the lane where the lane-changing vehicle is located, which are closest to the lane-changing vehicle, and the third vehicle that is closest and attempts to cut into the lane where the lane-changing vehicle is located; then, by obtaining the detection result of the target vehicle directly on the side, it is determined whether there is a target vehicle directly on the side; if there is a target vehicle directly on the side, a target vehicle in front of the side and a target vehicle in the rear of the side are identified based on the target vehicle directly on the side; then, by obtaining the lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle, risk judgment is performed on the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side, and the target vehicle in the rear of the side according to the lane change risk threshold, so as to achieve flexible and timely lane change risk judgment while fully considering the collision risk, thereby ensuring the safety of lane change and improving the success rate of lane change execution.

[0074] See also Figure 4 , an embodiment of the present application provides a device for determining lane change risk, the device comprising:

[0075] The first search module 401 is used to search for a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane-changing vehicle, and a third vehicle that is the closest vehicle that attempts to cut into the lane where the lane-changing vehicle is located;

[0076] A selection module 402 is used to select a target vehicle directly ahead from the first vehicle, the second vehicle, and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle;

[0077] The first acquisition module 403 is used to acquire the detection result of the front side target vehicle, and the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane changing vehicle, and the front side target vehicle is a vehicle whose length overlaps with the projection area of ​​the lane changing vehicle in the target lane;

[0078] The second search module 404 is used for, in response to the detection result that there is a target vehicle directly behind the lane-changing vehicle, searching for the vehicle closest to the front of the rear axle of the target vehicle directly behind the lane-changing vehicle as the target vehicle directly ahead, and searching for the vehicle closest to the rear of the rear axle as the target vehicle directly behind;

[0079] The second acquisition module 405 is used to obtain a lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle;

[0080] The third acquisition module 406 is used to obtain risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle behind the side according to the lane change risk threshold. The risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

[0081] In one possible implementation, the selection module 402 is used to obtain the driving speed of the lane-changing vehicle, the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle; in response to the driving speed of the lane-changing vehicle being greater than the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle, calculate the time required for the lane-changing vehicle to collide with the first vehicle, the second vehicle, and the third vehicle based on the first distance, the second distance, and the third distance; select the vehicle with the shortest time required for the collision as the target vehicle directly in front; or in response to at least one of the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle being greater than the driving speed of the lane-changing vehicle, select the vehicle corresponding to the closest distance among the first distance, the second distance, and the third distance as the target vehicle directly in front.

[0082] In one possible implementation, the first acquisition module 403 is further used to search for the vehicle closest to the front of the projection of the rear axle of the lane-changing vehicle on the target lane as the side-front target vehicle, and to search for the vehicle closest to the rear of the projection of the rear axle of the lane-changing vehicle on the target lane as the side-rear target vehicle, in response to a detection result that there is no direct side target vehicle of the lane-changing vehicle.

[0083] In one possible implementation, the second acquisition module 405 is used to obtain the current lane changing state of the lane changing vehicle, where the lane changing state includes preparing to change lanes and changing lanes; in response to the lane changing state being preparing to change lanes, a first preset coefficient is used as the coefficient of the lane changing risk threshold; in response to the lane changing state being changing lanes, a second preset coefficient is used as the coefficient of the lane changing risk threshold, and the second preset coefficient is greater than the first preset coefficient; and the lane changing risk threshold is determined based on a calculation result of multiplying the coefficient of the lane changing risk threshold by a fixed parameter.

[0084] In a possible implementation, the lane-changing risk threshold includes a spacing threshold, a time interval threshold and a duration threshold. The third acquisition module 406 is used to obtain a risk judgment result of the risk caused by the target vehicle in front when the lane-changing vehicle changes lanes in response to at least one of the following: the spacing between the target vehicle in front and the lane-changing vehicle is less than the spacing threshold, or the risk time interval between the target vehicle in front and the lane-changing vehicle is less than the time interval threshold, when the speed of the target vehicle in front is greater than or equal to the speed of the lane-changing vehicle; and / or in response to at least one of the following: the speed of the target vehicle in front is greater than or equal to the speed of the lane-changing vehicle. In response to at least one of the following conditions: the distance between the target vehicle on the side and the lane-changing vehicle is less than the distance threshold, or the risk time distance between the target vehicle on the side and the lane-changing vehicle is less than the time distance threshold, a risk judgment result of the risk caused by the target vehicle on the side and the lane-changing vehicle when changing lanes is obtained; and / or when the speed of the target vehicle on the side and the rear is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of the following conditions: the distance between the target vehicle on the side and the lane-changing vehicle is less than the distance threshold, or the risk time distance between the target vehicle on the side and the lane-changing vehicle is less than the time distance threshold, a risk judgment result of the risk caused by the target vehicle on the side and the rear when the lane-changing vehicle changes lanes is obtained.

[0085] In a possible implementation, the lane-changing risk threshold includes a duration threshold, and the third acquisition module 406 is used to obtain a risk judgment result of the risk caused by the target vehicle in front when the lane-changing vehicle changes lanes in response to at least one of the following: the distance between the target vehicle in front and the lane-changing vehicle is less than the distance threshold, or the duration of the collision between the target vehicle in front and the lane-changing vehicle is less than the duration threshold, when the speed of the target vehicle in front is less than the speed of the lane-changing vehicle; and / or in response to the distance between the target vehicle in front and the lane-changing vehicle and the lane-changing vehicle when the speed of the target vehicle in front is less than the speed of the lane-changing vehicle. When the distance between the vehicles is less than a distance threshold, or the duration of the collision between the target vehicle in front and the lane-changing vehicle is less than a duration threshold, a risk judgment result is obtained that the target vehicle in front of the lane changes lanes; and / or when the speed of the target vehicle behind the lane is less than the speed of the lane-changing vehicle, in response to the distance between the target vehicle behind the lane and the lane-changing vehicle being less than a distance threshold, or the duration of the collision between the target vehicle behind the lane and the lane-changing vehicle being less than a duration threshold, a risk judgment result that the target vehicle behind the lane changes lanes is obtained.

[0086] In a possible implementation, the third acquisition module 406 is configured to, in response to obtaining a detection result that there is a target vehicle directly beside the lane-changing vehicle, obtain a risk judgment result that the target vehicle directly beside the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes.

[0087] The device selects a target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle by identifying the first vehicle, the second vehicle, and the third vehicle that are located in front of the lane where the lane-changing vehicle is located and are closest to the lane-changing vehicle; then determines whether there is a target vehicle directly on the side by obtaining the detection result of the target vehicle directly on the side; if there is a target vehicle directly on the side, identifies the target vehicle in front of the side and the target vehicle in the rear of the side according to the target vehicle directly on the side; then obtains the lane-changing risk threshold corresponding to the current lane-changing state of the lane-changing vehicle, and makes risk judgments on the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side, and the target vehicle in the rear of the side according to the lane-changing risk threshold, so as to achieve flexible and timely lane-changing risk judgments while fully considering the collision risks, thereby ensuring the safety of lane changing and improving the success rate of lane changing execution.

[0088] It should be noted that the device provided in the above embodiment only uses the division of the above functional modules as an example to implement its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0089] In an exemplary embodiment, a computer-readable storage medium is also provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor of a computer device to enable the computer to implement any of the above methods for determining lane change risk.

[0090] In one possible implementation, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0091] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above methods for determining lane change risk.

[0092] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the target vehicle in front, the target vehicle on the side, the target vehicle in front of the side, the target vehicle behind the side and the risk judgment results involved in this application are all obtained with full authorization.

[0093] It should be understood that the "plurality" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0094] It should be noted that the terms "first", "second", etc. (if any) in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0095] The above description is only an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining lane change risk, characterized in that: The method comprises: Searching for a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane-changing vehicle, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located; Based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle, selecting a target vehicle directly ahead from among the first vehicle, the second vehicle, and the third vehicle; Acquire a detection result of a front side target vehicle, wherein the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane-changing vehicle, and the front side target vehicle is a vehicle whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane; In response to obtaining a detection result that there is a target vehicle directly behind the lane-changing vehicle, searching for a vehicle closest to the front of a rear axle of the target vehicle directly behind the lane-changing vehicle as the target vehicle directly ahead, and searching for a vehicle closest to the rear of the rear axle as the target vehicle directly behind; Obtaining a lane changing risk threshold corresponding to a current lane changing state of the lane changing vehicle; The risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle behind the side are obtained according to the lane change risk threshold, and the risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

2. The method according to claim 1, characterized in that The selecting a target vehicle directly ahead from the first vehicle, the second vehicle, and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle comprises: Acquire the driving speed of the lane-changing vehicle, the driving speed of the first vehicle, the driving speed of the second vehicle, and the driving speed of the third vehicle; In response to a driving speed of the lane-changing vehicle being greater than a driving speed of the first vehicle, a driving speed of the second vehicle, and a driving speed of the third vehicle, calculating a time required for the lane-changing vehicle to collide with the first vehicle, the second vehicle, and the third vehicle based on the first distance, the second distance, and the third distance; The vehicle with the shortest time required for collision is selected as the front target vehicle; or In response to at least one of the driving speeds of the first vehicle, the second vehicle and the third vehicle being greater than the driving speed of the lane-changing vehicle, the vehicle corresponding to the closest distance among the first distance, the second distance and the third distance is selected as the target vehicle directly in front.

3. The method according to claim 1, characterized in that After obtaining the detection result of the target vehicle on the front side, the method further includes: In response to obtaining a detection result that there is no direct side target vehicle for the lane-changing vehicle, the vehicle closest to the front of the projection of the rear axle of the lane-changing vehicle on the target lane is searched as the side front target vehicle, and the vehicle closest to the rear of the projection of the rear axle on the target lane is searched as the side rear target vehicle.

4. The method according to claim 1, characterized in that: The obtaining of a lane changing risk threshold corresponding to a current lane changing state of the lane changing vehicle includes: Acquiring a current lane changing state of the lane changing vehicle, wherein the lane changing state includes preparing to change lanes and changing lanes; In response to the lane change state being a lane change preparation state, using a first preset coefficient as a coefficient of the lane change risk threshold; In response to the lane changing state being in progress, using a second preset coefficient as a coefficient of the lane changing risk threshold, wherein the second preset coefficient is greater than the first preset coefficient; The lane change risk threshold is determined based on a calculation result of multiplying a coefficient of the lane change risk threshold by a fixed parameter.

5. The method according to claim 1, characterized in that The lane change risk threshold includes a spacing threshold, a time interval threshold, and a duration threshold. The risk judgment results of the front target vehicle, the side front target vehicle, and the side rear target vehicle are obtained according to the lane change risk threshold, including: In a case where the speed of the target vehicle directly ahead is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of a distance between the target vehicle directly ahead and the lane-changing vehicle being less than the distance threshold, or a risk time distance between the target vehicle directly ahead and the lane-changing vehicle being less than a time distance threshold, obtaining a risk judgment result that the target vehicle directly ahead causes a risk when the lane-changing vehicle changes lanes; and / or In a case where the speed of the target vehicle in front of the side is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of a distance between the target vehicle in front of the side and the lane-changing vehicle being less than the distance threshold, or a risk time distance between the target vehicle in front of the side and the lane-changing vehicle being less than a time distance threshold, obtaining a risk judgment result that the target vehicle in front of the side causes a risk when the lane-changing vehicle changes lanes; and / or In the case that the speed of the side rear target vehicle is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of the distance between the side rear target vehicle and the lane-changing vehicle being less than the distance threshold, or the risk time distance between the side rear target vehicle and the lane-changing vehicle being less than the time distance threshold, a risk judgment result of the risk caused by the side rear target vehicle when the lane-changing vehicle changes lanes is obtained.

6. The method according to claim 5, characterized in that The lane change risk threshold includes a duration threshold, and the risk judgment of the target vehicle on the side, the target vehicle in front of the side, and the target vehicle behind the side according to the lane change risk threshold includes: In a case where the speed of the target vehicle directly ahead is less than the speed of the lane-changing vehicle, in response to at least one of a distance between the target vehicle directly ahead and the lane-changing vehicle being less than the distance threshold, or a duration of a collision between the target vehicle directly ahead and the lane-changing vehicle being less than the duration threshold, a risk judgment result of a risk caused by the target vehicle directly ahead when the lane-changing vehicle changes lanes is obtained; and / or In a case where the speed of the target vehicle in front of the side is less than the speed of the lane-changing vehicle, in response to at least one of a distance between the target vehicle in front of the side and the lane-changing vehicle being less than the distance threshold, or a duration of a collision between the target vehicle in front of the side and the lane-changing vehicle being less than the duration threshold, a risk judgment result of a risk caused by the target vehicle in front of the side when the lane-changing vehicle changes lanes is obtained; and / or In the case that the speed of the side rear target vehicle is lower than the speed of the lane-changing vehicle, in response to at least one of a distance between the side rear target vehicle and the lane-changing vehicle being lower than the distance threshold, or a duration of a collision between the side rear target vehicle and the lane-changing vehicle being lower than the duration threshold, a risk judgment result of a risk caused by the side rear target vehicle when the lane-changing vehicle changes lanes is obtained.

7. The method according to claim 1, characterized in that The risk of the target vehicle on the front or side is judged according to the lane change risk threshold, including: In response to obtaining a detection result that there is the target vehicle directly behind the lane-changing vehicle, a risk judgment result that the target vehicle directly behind the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes is obtained.

8. A device for determining lane change risk, characterized in that: The device comprises: A first search module is used to search for a first vehicle that is located in front of the lane where the lane-changing vehicle is located and is closest to the lane-changing vehicle, a second vehicle that is the second closest to the lane-changing vehicle, and a third vehicle that is the closest and attempts to cut into the lane where the lane-changing vehicle is located; a selection module, configured to select a target vehicle directly ahead from among the first vehicle, the second vehicle and the third vehicle based on at least one of a first distance between the lane-changing vehicle and the first vehicle, a second distance between the lane-changing vehicle and the second vehicle, and a third distance between the lane-changing vehicle and the third vehicle; A first acquisition module is used to acquire a detection result of a front side target vehicle, wherein the detection result of the front side target vehicle is used to indicate whether there is a front side target vehicle of the lane-changing vehicle, and the front side target vehicle is a vehicle whose length overlaps with the projection area of ​​the lane-changing vehicle in the target lane; A second search module is used for, in response to obtaining a detection result that there is a target vehicle on the front side of the lane-changing vehicle, searching for a vehicle closest to the front of the rear axle of the target vehicle on the front side as the target vehicle on the front side, and searching for a vehicle closest to the rear of the rear axle as the target vehicle on the rear side; A second acquisition module is used to acquire a lane changing risk threshold corresponding to a current lane changing state of the lane changing vehicle; The third acquisition module is used to obtain the risk judgment results of the target vehicle directly in front, the target vehicle directly on the side, the target vehicle in front of the side and the target vehicle behind the side according to the lane change risk threshold. The risk judgment results are used to indicate whether the corresponding vehicle causes risk when the lane-changing vehicle changes lanes.

9. A computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method for determining lane change risk according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is loaded and executed by a processor to implement the method for determining lane change risk as described in any one of claims 1 to 7.

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