Method, device and storage medium for determining lane change risk

Abstract

This application discloses a method, apparatus, and storage medium for determining lane change risk, belonging to the field of vehicle control technology. The method includes: locating a first vehicle closest to the lane-changing vehicle, a second vehicle second closest to the lane-changing vehicle, and a third vehicle most likely attempting to enter the lane of the lane-changing vehicle; selecting a target vehicle directly ahead from the first, second, and third vehicles; in response to a detection result indicating the presence of a target vehicle to the side of the lane-changing vehicle, locating the vehicle closest to the rear axle of the target vehicle to the side as the side-front target vehicle, and locating the vehicle closest to the rear axle of the target vehicle to the side as the side-rear target vehicle; obtaining a lane change risk threshold corresponding to the current lane-changing state of the lane-changing vehicle; and obtaining risk assessment results for the target vehicle directly ahead, the target vehicle to the side, the side-front target vehicle, and the side-rear target vehicle based on the lane change risk threshold. This enables flexible and timely lane change risk assessment.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, apparatus and storage medium for determining lane change risk. Background Technology

[0002] During vehicle driving, whether the driver manually changes lanes or the intelligent driving system automatically changes lanes, a lane change risk assessment is required to determine the safety of the lane change and avoid collisions with other vehicles. Current technologies only consider the collision risk between the vehicle and vehicles in the target lane, neglecting the collision risk between the vehicle and vehicles in the current lane, resulting in an incomplete assessment of lane change risk. Furthermore, they often use fixed distance and time thresholds to determine the presence of collision risk in various situations, lacking flexibility and unable to adapt to dynamically changing road scenarios. Delaying the execution of lane change decisions through time lag can easily lead to missed opportunities for lane changes, and in scenarios with collision risk, time lag can cause delayed lane change reversal, increasing the risk of collision during the lane change process. Therefore, it is crucial to develop a flexible and timely lane change risk assessment method that comprehensively considers collision risks to ensure lane change safety and improve the success rate of lane change execution. Summary of the Invention

[0003] This application provides a method, apparatus, and storage medium for determining lane change risks, which can be used to ensure the safety of lane changes and improve the success rate of lane change execution. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a method for determining lane change risk, the method comprising:

[0005] Locate the first vehicle that is closest to the lane-changing vehicle in front of it, the second vehicle that is second closest to it, and the third vehicle that is most recently attempting to cut into the lane of the lane-changing vehicle.

[0006] Based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle, a target vehicle directly in front is selected from the first vehicle, the second vehicle, and the third vehicle;

[0007] The detection results of the target vehicles on the front and side are obtained. The detection results of the target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. The target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane.

[0008] In response to the detection result that the lane-changing vehicle is adjacent to the target vehicle on the side, the vehicle closest to the rear axle of the target vehicle on the side is identified as the target vehicle on the side front, and the vehicle closest to the rear axle of the target vehicle is identified as the target vehicle on the side rear.

[0009] Obtain the lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle;

[0010] Based on the lane change risk threshold, the risk assessment results for the target vehicle directly in front, the target vehicle directly to the side, the target vehicle to the side front, and the target vehicle to the side rear are obtained. The risk assessment results are used to indicate whether the vehicle corresponding to the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes.

[0011] On the other hand, an apparatus for determining lane change risk is provided, the apparatus comprising:

[0012] The first search module is used to find the first vehicle that is closest to the lane changing vehicle, the second vehicle that is second closest to the lane changing vehicle, and the third vehicle that is most likely to attempt to cut into the lane changing vehicle.

[0013] The selection module is used to select a target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle.

[0014] The first acquisition module is used to acquire the detection results of target vehicles on the front and side. The detection results of target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. The target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane.

[0015] The second search module is used to respond to the detection result that the lane-changing vehicle has the target vehicle on the side, search for the vehicle in front of the rear axle of the target vehicle on the side as the target vehicle on the side front, and search for the vehicle behind the rear axle as the target vehicle on the side rear.

[0016] The second acquisition module is used to acquire the lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle.

[0017] The third acquisition module is used to acquire risk assessment results of the target vehicle directly in front, the target vehicle directly to the side, the target vehicle to the side front, and the target vehicle to the side rear based on the lane change risk threshold. The risk assessment results are used to indicate whether the vehicle corresponding to the lane-changing vehicle causes a risk when changing lanes.

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

[0019] On the other hand, a computer program product is also provided, the computer program product including computer instructions, which, when executed by a processor, implement the steps of any of the methods for determining lane change risk described above.

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

[0021] This application identifies the first vehicle closest to the lane-changing vehicle, the second closest vehicle, and the third vehicle attempting to merge into the lane-changing vehicle's lane. It then selects the target vehicle directly in front of the first, second, and third vehicles. Next, it determines the presence of target vehicles to the side by acquiring detection results. If such target vehicles exist, it searches for target vehicles to the side and rear. Finally, it obtains the lane-change risk threshold corresponding to the current lane-change state of the lane-changing vehicle and assesses the risk of the target vehicles directly in front, to the side, to the side, and to the rear based on this risk threshold. This allows for flexible and timely lane-change risk assessment while comprehensively considering collision risks, thereby ensuring lane-change safety and improving the success rate of lane-change execution. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0024] Figure 2 This is a flowchart illustrating a method for determining lane change risk provided in an embodiment of this application;

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

[0026] Figure 4 This is a schematic diagram of the structure of a device for determining lane change risk provided in an embodiment of this application. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

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

[0029] Optionally, camera 12 is used to capture images of a certain range in front of the lane-changing vehicle. After the captured video images are recognized by the video recognition device, information about other vehicles located within a certain range in front of the lane-changing vehicle, as well as information about other vehicles attempting to cut into the lane of the lane-changing vehicle within a certain range in front of the lane-changing vehicle, is sent to ADDC 11. Camera 12 is installed in front of the vehicle.

[0030] For example, radar device 13 is used to measure the distance between the lane-changing vehicle and other vehicles within a certain range and transmit the data to ADDC 11. ADDC 11 uses the information detected by the radar to identify at least one of the following: the vehicle closest to the lane-changing vehicle as the first vehicle, the vehicle second closest as the second vehicle, and the third vehicle most recently attempting to cut into the lane where the lane-changing vehicle is located. The radar is mounted in front of the vehicle.

[0031] In one possible implementation, ECU 14 is used to acquire the speed of the lane-changing vehicle and send it to ADDC 11. ADDC 11 then calculates the speeds of the first vehicle, the second vehicle, and the third vehicle, and compares these speeds with the speeds of the target vehicles directly in front, to the side, to the front side, and to the rear side, thereby determining the method for obtaining the risk assessment result. ECU 14 is also used to acquire the current lane-changing status of the lane-changing vehicle, which ADDC 11 uses to acquire the lane-changing risk threshold.

[0032] Optionally, the vehicle-mounted display screen 15 is used to display the risk assessment results for each target vehicle after the risk assessment results for each target vehicle have been determined. The ADDC 11, camera 12, radar device 13, ECU 14, and vehicle-mounted display screen 15 establish a communication connection via a wired or wireless network.

[0033] Based on the above Figure 1The implementation environment shown in this application provides a method for determining lane change risk. Figure 2 As shown, taking the application of this method to ADDC as an example, the method includes steps 201-206.

[0034] In step 201, ADDC locates at least one of the following: the first vehicle located in front of the lane changing vehicle and closest to it, the second vehicle located second closest to it, and the third vehicle that is most recently attempting to cut into the lane changing vehicle's lane.

[0035] In one possible implementation, ADDC uses a camera installed on the vehicle to capture images of a certain range in front of the lane-changing vehicle, and then uses a video recognition device to identify 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 are attempting to cut into the lane where the lane-changing vehicle is located.

[0036] For example, a radar device installed on the vehicle measures the distance between the lane-changing vehicle and other vehicles within a certain range. The vehicle closest to the lane-changing vehicle is identified as the first vehicle, the vehicle second closest is identified as the second vehicle, and at least one of the following is identified as the third vehicle attempting to merge into the lane of the lane-changing vehicle. Optionally, a camera and radar are mounted in front of the vehicle. The first and second vehicles must remain in the lane of the lane-changing vehicle for a duration exceeding a first duration and must remain entirely within the lane of the lane-changing vehicle, while the third vehicle must be in a state of switching from other lanes into the lane of the lane-changing vehicle.

[0037] For example, 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 neither the first nor the second vehicle exists; 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, ADDC selects the target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle.

[0039] For example, taking the presence of a first vehicle, a second vehicle, and a third vehicle as an example, after identifying the first vehicle, the second vehicle, and the third vehicle, ADDC selects the target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle. This includes: ADDC acquiring 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 lane-changing vehicle's driving speed being greater than the driving speeds of the first vehicle, the second vehicle, and the third vehicle, calculating 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 selecting the vehicle with the shortest time required for a collision as the target vehicle directly in front.

[0040] In one possible implementation, the ADDC acquires the speeds of the lane-changing vehicle, the first vehicle, the second vehicle, and the third vehicle, including: the ADDC acquiring the speed of the lane-changing vehicle via the ECU; continuously monitoring the first, second, and third distances; if the distance gradually increases, it indicates that the vehicle's speed is greater than that of the lane-changing vehicle; if the distance gradually decreases, it indicates that the vehicle's speed is less than that of the lane-changing vehicle; then, the speed of the first vehicle is calculated based on the changes in the lane-changing vehicle's speed and the first distance; the speed of the second vehicle is calculated based on the changes in the lane-changing vehicle's speed and the second distance; and the speed of the third vehicle is calculated based on the changes in the lane-changing vehicle's speed and the third distance.

[0041] For example, after determining that the speed of the lane-changing vehicle is greater than the 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, second, and third vehicles is calculated based on the first distance, the second distance, and the third distance. This includes substituting the speed of the lane-changing vehicle with the first distance and the speeds of the first, second, and second vehicles, and the third distance and the speed of the third vehicle into the formula for calculating the time required for the collision. The formula for calculating the time required for the collision is shown below:

[0042]

[0043] Where TTC is the time required for a collision to occur, and S... obj For the first distance, second distance, or third distance, v ego v is the speed of the vehicle changing lanes. obj The speed of the first vehicle, the speed of the second vehicle, or the speed of the third vehicle.

[0044] Optionally, after determining the time required for a collision to occur for the first, second, and third vehicles, ADDC compares the time required for a collision to occur for the first, second, and third vehicles, and selects the vehicle with the shortest time required for a collision as the target vehicle directly in front.

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

[0046] In step 203, ADDC acquires the detection results of target vehicles on the front and side. The detection results of target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. Target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane.

[0047] In one possible implementation, after selecting the target vehicle directly in front, ADDC obtains the detection results of the target vehicles to the side. The detection results of the target vehicles to the side are used to indicate whether there are target vehicles to the side of the lane-changing vehicle. The target vehicles to the side are vehicles whose length overlaps with the length of the area where the projection of the lane-changing vehicle is located in the target lane.

[0048] Optionally, after selecting the target vehicle directly ahead, the ADDC uses a video recognition device to determine the length of the projection area of ​​the lane-changing vehicle in the target lane, and judges whether the length of the projection area overlaps with other vehicles in the target lane. If the length of the projection area overlaps with other vehicles in the target lane, the ADR obtains a detection result indicating that there is a target vehicle to the side of the lane-changing vehicle, and takes the overlapping vehicle as the target vehicle to the side; if the length of the projection area does not overlap with other vehicles in the target lane, the ADR obtains a detection result indicating that there is no target vehicle to the side of the lane-changing vehicle.

[0049] In step 204, in response to the detection result that the lane-changing vehicle has a target vehicle on the side, ADDC finds the nearest vehicle in front of the rear axle of the target vehicle on the side as the target vehicle on the side front, and finds the nearest vehicle behind the rear axle as the target vehicle on the side rear.

[0050] For example, after obtaining the detection result that there is a target vehicle to the side of the lane-changing vehicle, ADDC determines the position of the rear axle of the target vehicle to the side using a video recognition device, finds the nearest vehicle in front of the rear axle of the target vehicle to the side as the target vehicle to the side, and finds the nearest vehicle behind the rear axle as the target vehicle to the side and behind. Optionally, if there are no other vehicles within a second range in front of the rear axle of the target vehicle to the side, it is confirmed that there is no target vehicle to the side of the lane-changing vehicle; if there are no other vehicles within a second range behind the rear axle of the target vehicle to the side, it is confirmed that there is no target vehicle to the side and behind the lane-changing vehicle.

[0051] In one possible implementation, in response to the detection result that there are no target vehicles directly to the side of the lane-changing vehicle, the ADDC finds the nearest vehicle in front of the projection of the rear axle of the lane-changing vehicle onto the target lane as the side-front target vehicle, and finds the nearest vehicle behind the projection of the rear axle of the lane-changing vehicle onto the target lane as the side-rear target vehicle. For example, after obtaining the detection result that there are no target vehicles directly to the side of the lane-changing vehicle, the ADDC determines the position of the projection of the rear axle of the lane-changing vehicle onto the target lane using a video recognition device, finds the nearest vehicle in front of the projection of the rear axle of the lane-changing vehicle onto the target lane as the side-front target vehicle, and finds the nearest vehicle behind the projection of the rear axle of the lane-changing vehicle onto the target lane as the side-rear target vehicle.

[0052] Optionally, if there are no other vehicles in the second range in front of the projection location of the rear axle in the target lane, ADDC confirms that the lane-changing vehicle does not have a target vehicle to its side or in front; if there are no other vehicles in the second range behind the projection location of the rear axle in the target lane, ADDC confirms that the lane-changing vehicle does not have a target vehicle to its side or behind.

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

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

[0055] For example, ADDC can obtain the current lane-changing status of the vehicle changing lanes through the ECU, where the lane-changing status includes preparing to change lanes and changing lanes in progress. If the lane-changing status is preparing to change lanes, a first preset coefficient is used as the coefficient of the lane-changing risk threshold; if the lane-changing status is changing lanes in progress, a second preset coefficient is used as the coefficient of the lane-changing risk threshold, where the second preset coefficient is greater than the first preset coefficient; the coefficient of the lane-changing risk threshold is calculated by multiplying it by a fixed parameter corresponding to the distance to obtain the distance threshold, the coefficient of the lane-changing risk threshold is calculated by multiplying it by a fixed parameter corresponding to the time distance to obtain the time distance threshold, and the coefficient of the lane-changing risk threshold is calculated by multiplying it by a fixed parameter corresponding to the duration to obtain the duration threshold.

[0056] Optionally, the first and second preset coefficients can be set based on experience, provided that the second preset coefficient is greater than the first preset coefficient. For example, the first preset coefficient can be 1, and the second preset coefficient can be an integer greater than 1. Fixed parameters include, but are not limited to: fixed parameters corresponding to spacing, fixed parameters corresponding to time intervals, and fixed parameters corresponding to duration, all of which can be preset according to actual conditions.

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

[0058] For example, the risk assessment result is used to indicate whether the vehicle corresponding to the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes. ADDC obtains the risk assessment results of the target vehicle directly in front, the target vehicle to the side front, and the target vehicle to the side rear based on the lane-changing risk threshold. This includes: 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 at least one of the following: the distance between the target vehicle directly in front and the lane-changing vehicle is less than a distance threshold, or the risk time distance between the target vehicle directly in front and the lane-changing vehicle is less than a time distance threshold, ADDC obtains the risk assessment result that the target vehicle directly in front causes a risk when the lane-changing vehicle changes lanes; and / or when the speed of the target vehicle to the side front is greater than or equal to the speed of the lane-changing vehicle. When the vehicle's speed is such that the distance between the target vehicle to the side and the lane-changing vehicle is less than a distance threshold, or the risk time distance between the target vehicle to the side and the lane-changing vehicle is less than a time distance threshold, ADDC obtains a risk assessment result indicating that the target vehicle to the side causes a risk when the lane-changing vehicle changes lanes; and / or when the speed of the target vehicle to the side and rear is greater than or equal to the speed of the lane-changing vehicle, when the distance between the target vehicle to the side and rear and the lane-changing vehicle is less than a distance threshold, or the risk time distance between the target vehicle to the side and rear and the lane-changing vehicle is less than a time distance threshold, ADDC obtains a risk assessment result indicating that the target vehicle to the side and rear causes a risk when the lane-changing vehicle changes lanes.

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

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

[0061]

[0062] Where T represents the risk time interval.

[0063] For example, 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 a distance threshold, and the risk time distance between the target vehicle directly ahead and the lane-changing vehicle is compared with a time distance threshold. If at least one of the following conditions is met, the ADDC obtains a risk assessment result indicating that the target vehicle directly ahead caused a risk when the lane-changing vehicle changed lanes.

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

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

[0066] For example, ADDC obtains risk assessment results for a target vehicle directly ahead, a target vehicle to the side ahead, and a target vehicle to the side rear based on a lane change risk threshold. The method further includes: when 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 the following: the distance between the target vehicle directly ahead and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the target vehicle directly ahead and the lane-changing vehicle is less than a duration threshold, obtaining a risk assessment result indicating that the target vehicle directly ahead poses a risk when the lane-changing vehicle changes lanes; and / or when the speed of the target vehicle to the side ahead is less than the speed of the lane-changing vehicle, in response to the side... If at least one of the following conditions is met: the distance between the target vehicle ahead and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the target vehicle to the side and the lane-changing vehicle is less than a duration threshold, a risk assessment result is obtained indicating that the target vehicle to the side poses a risk when the lane-changing vehicle changes lanes; and / or if the speed of the target vehicle to the side and rear is less than the speed of the lane-changing vehicle, in response to at least one of the following conditions being met: the distance between the target vehicle to the side and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the target vehicle to the side and the lane-changing vehicle is less than a duration threshold, a risk assessment result is obtained indicating that the target vehicle to the side and rear poses a risk when the lane-changing vehicle changes lanes.

[0067] In one 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 and the lane-changing vehicle is compared with a distance threshold, and the duration of the collision between the target vehicle and the lane-changing vehicle is compared with a duration threshold. If the distance between the target vehicle and the lane-changing vehicle is less than the distance threshold, or the duration of the collision is less than at least one of the duration thresholds, ADDC obtains a risk assessment result indicating that the target vehicle directly ahead posed a risk when the lane-changing vehicle changed lanes.

[0068] For example, after determining that the speed of the target vehicle to the side is less than the speed of the lane-changing vehicle, the distance between the target vehicle to the side and the lane-changing vehicle is compared with a distance threshold, and the duration of the collision between the target vehicle to the side and the lane-changing vehicle is compared with a duration threshold. If the distance between the target vehicle to the side and the lane-changing vehicle is less than the distance threshold, or the duration of the collision between the target vehicle to the side and the lane-changing vehicle is less than at least one of the duration thresholds, ADDC obtains a risk assessment result for the risk caused by the target vehicle to the side when the lane-changing vehicle changes lanes.

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

[0070] In one possible implementation, ADDC obtains risk assessment results for target vehicles directly ahead, to the side ahead, and to the side rear based on lane change risk thresholds. It further includes: in response to obtaining a detection result indicating the presence of a target vehicle directly to the side of the lane-changing vehicle, obtaining a risk assessment result indicating that the target vehicle directly to the side poses a risk when the lane-changing vehicle changes lanes. For example, if a detection result indicating the presence of a target vehicle directly to the side of the lane-changing vehicle is obtained, ADDC obtains a risk assessment result indicating that the target vehicle directly to the side poses a risk to the lane-changing vehicle when it changes lanes; that is, the target vehicle directly to the side definitely poses a risk to the lane-changing vehicle.

[0071] For example, after determining the risk assessment result for each target vehicle, the risk assessment result for each target vehicle can be displayed on the in-vehicle display screen.

[0072] In summary, with Figure 3 The following is an example illustrating the configuration of a lane for a vehicle attempting to change lanes. Optionally, 1 represents a vehicle attempting to change lanes to the left; 2 represents a third vehicle attempting to cut into the lane of the vehicle attempting to change lanes; 3 represents a first vehicle located in front of the vehicle attempting to change lanes and closest to it; 4 represents a second vehicle located in front of the vehicle attempting to change lanes and second closest to it; 6 represents a target vehicle directly to the side; 5 represents a target vehicle to the side front; and 7 represents a target vehicle to the side rear.

[0073] This application embodiment identifies the first vehicle closest to the lane-changing vehicle, the second closest vehicle, and the third vehicle attempting to cut into the lane of the lane-changing vehicle located in front of it. It then selects the target vehicle directly in front of the first, second, and third vehicles. Next, it obtains the detection results of target vehicles to the side to determine if such vehicles exist. If such vehicles exist, it identifies target vehicles to the side and rear. Finally, it obtains the lane-change risk threshold corresponding to the current lane-change state of the lane-changing vehicle and performs risk assessments on the target vehicles directly in front, to the side, to the side, and to the rear based on this risk threshold. This allows for flexible and timely lane-change risk assessment while comprehensively considering collision risks, thereby ensuring lane-change safety and improving the success rate of lane-change execution.

[0074] See Figure 4 This application provides an apparatus for determining lane change risk, the apparatus comprising:

[0075] The first search module 401 is used to find the first vehicle that is closest to the lane changing vehicle, the second vehicle that is second closest to the lane changing vehicle, and the third vehicle that is most recently attempting to cut into the lane changing vehicle.

[0076] The selection module 402 is used to select a target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle.

[0077] The first acquisition module 403 is used to acquire the detection results of the target vehicles on the front and side. The detection results of the target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. The target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane.

[0078] The second search module 404 is used to respond to the detection result that there is a target vehicle on the side of the lane-changing vehicle, search for the vehicle in front of the rear axle of the target vehicle on the side as the target vehicle in front of the side, and search for the vehicle behind the rear axle as the target vehicle in front of the side.

[0079] The second acquisition module 405 is used to acquire the 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 acquire risk assessment results for target vehicles directly in front, target vehicles to the side, target vehicles to the side front, and target vehicles to the side rear based on the lane change risk threshold. The risk assessment results are used to indicate whether the corresponding vehicle causes a risk when the lane-changing vehicle changes lanes.

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

[0082] In one possible implementation, the first acquisition module 403 is further configured to, in response to the detection result that there is no target vehicle directly to the side of the lane-changing vehicle, find the nearest vehicle in front of the projection of the rear axle of the lane-changing vehicle onto the target lane as the target vehicle to the side front, and find the nearest vehicle behind the projection of the rear axle of the lane onto the target lane as the target vehicle to the side rear.

[0083] In one possible implementation, the second acquisition module 405 is used to acquire the current lane-changing status of the lane-changing vehicle, including preparing to change lanes and changing lanes in progress; in response to the lane-changing status 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 status being changing lanes in progress, a 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; and the lane-changing risk threshold is determined based on the calculation result of multiplying the coefficient of the lane-changing risk threshold by a fixed parameter.

[0084] In one possible implementation, the lane change risk threshold includes a spacing threshold, a time distance threshold, and a duration threshold. The third acquisition module 406 is configured to, when 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 the following: the distance between the target vehicle directly ahead and the lane-changing vehicle is less than the spacing threshold, or the risk time distance between the target vehicle directly ahead and the lane-changing vehicle is less than the time distance threshold, acquire a risk assessment result indicating that the target vehicle directly ahead poses a risk during the lane change; and / or, when the speed of the target vehicle to the side is greater than or equal to the speed of the lane-changing vehicle, in response to the target vehicle to the side... If at least one of the following conditions is met: the distance between the target vehicle and the lane-changing vehicle is less than a distance threshold, or the risk time distance between the target vehicle to the side and the lane-changing vehicle is less than a time distance threshold, a risk assessment result is obtained indicating that the target vehicle to the side causes a risk when the lane-changing vehicle changes lanes; and / or if the speed of the target vehicle to the side is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of the following conditions being met: the distance between the target vehicle to the side and the lane-changing vehicle is less than a distance threshold, or the risk time distance between the target vehicle to the side and the lane-changing vehicle is less than a time distance threshold, a risk assessment result is obtained indicating that the target vehicle to the side causes a risk when the lane-changing vehicle changes lanes.

[0085] In one possible implementation, the lane change risk threshold includes a duration threshold. The third acquisition module 406 is used to acquire a risk assessment result of the risk posed by the target vehicle directly in front when the speed of the target vehicle in front is less than the speed of the lane-changing vehicle, 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 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; and / or, in response to the target vehicle in front and the lane-changing vehicle's speed being less than the speed of the target vehicle on the side, 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 a distance threshold; and / or, in response to the target vehicle on the side and the lane-changing vehicle's speed being less than the speed of the target vehicle on the side, the risk assessment result of the risk posed by the target vehicle in front when the speed of the target vehicle in front is less than the speed of the lane-changing vehicle. If at least one of the following conditions is met: the distance between vehicles is less than a distance threshold, or the duration of the collision between the target vehicle to the side and the lane-changing vehicle is less than a duration threshold, a risk assessment result is obtained indicating that the target vehicle to the side poses a risk when the lane-changing vehicle changes lanes; and / or if the speed of the target vehicle to the side and rear is less than the speed of the lane-changing vehicle, a risk assessment result is obtained indicating that the target vehicle to the side and rear poses a risk when the lane-changing vehicle changes lanes, in response to at least one of the following conditions: the distance between the target vehicle to the side and rear and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the target vehicle to the side and rear and the lane-changing vehicle is less than a duration threshold.

[0086] In one possible implementation, the third acquisition module 406 is used to acquire the risk assessment result of the risk caused by the target vehicle on the side when the lane-changing vehicle changes lanes, in response to the detection result of the detection result of the target vehicle on the side when the lane-changing vehicle changes lanes.

[0087] This device identifies the first vehicle closest to the lane-changing vehicle, the second closest vehicle, and the third vehicle attempting to merge into the lane ahead of the lane-changing vehicle. It then selects the target vehicle directly in front of the first, second, and third vehicles. Next, it determines the presence of target vehicles to the side by acquiring detection results. If such target vehicles exist, it identifies target vehicles to the side and rear. Finally, it obtains the lane-change risk threshold corresponding to the current lane-change state of the lane-changing vehicle and assesses the risk of each target vehicle (front, side, front, and rear) based on this threshold. This allows for flexible and timely lane-change risk assessment while comprehensively considering collision risks, thereby ensuring lane-change safety and improving the success rate of lane-change execution.

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

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

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

[0091] In an exemplary embodiment, a computer program product or computer program is also provided, the computer program product or computer program including computer instructions 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, causing the computer device to perform any of the methods described above for determining lane change risk.

[0092] It should be noted that all 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 have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the target vehicles directly in front, target vehicles to the side, target vehicles to the side front, target vehicles to the side rear, and risk assessment results involved in this application were all obtained with full authorization.

[0093] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

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

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

Claims

1. A method for determining lane change risk, characterized in that, The method includes: Locate the first vehicle that is closest to the lane-changing vehicle in front of it, the second vehicle that is second closest to it, and the third vehicle that is most recently attempting to cut into the lane of the lane-changing vehicle. Based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle, a target vehicle directly in front is selected from the first vehicle, the second vehicle, and the third vehicle; The detection results of the target vehicles on the front and side are obtained. The detection results of the target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. The target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane. In response to the detection result that the lane-changing vehicle is adjacent to the target vehicle on the side, the vehicle closest to the rear axle of the target vehicle on the side is identified as the target vehicle on the side front, and the vehicle closest to the rear axle of the target vehicle is identified as the target vehicle on the side rear. The lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle is obtained. The lane change risk threshold includes a spacing threshold, a time distance threshold, and a duration threshold. The spacing threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the spacing. The time distance threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the time distance. The duration threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the duration. The coefficient of the lane change risk threshold includes a first preset coefficient for the preparation of lane change and a second preset coefficient for lane change. The second preset coefficient is greater than the first preset coefficient. Based on the lane change risk threshold, the risk assessment results of the target vehicle directly in front, the target vehicle directly to the side, the target vehicle to the side front, and the target vehicle to the side rear are obtained. The risk assessment results are used to indicate whether the vehicle corresponding to the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes. After determining the risk assessment result for each target vehicle, the method further includes: The risk assessment results for each of the target vehicles are displayed on the in-vehicle display screen.

2. The method according to claim 1, characterized in that, The step of selecting a target vehicle directly ahead from the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle includes: The speeds of the vehicles changing lanes, the first vehicle, the second vehicle, and the third vehicle are obtained. In response to the fact that the speed of the lane-changing vehicle is greater than the speed of the first vehicle, the speed of the second vehicle, and the speed of 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. The vehicle with the shortest time required to collide is selected as the target vehicle directly in front; or In response to the fact that at least one of the speeds of the first vehicle, the second vehicle, and the third vehicle is greater than the 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 ahead.

3. The method according to claim 1, characterized in that, After obtaining the detection results of the target vehicle on the side, the process also includes: In response to the detection result that the lane-changing vehicle does not have the target vehicle on the front side, the vehicle in front of the projection of the rear axle of the lane-changing vehicle in the target lane is found as the target vehicle on the front side, and the vehicle behind the projection of the rear axle of the lane-changing vehicle in the target lane is found as the target vehicle on the rear side.

4. The method according to claim 1, characterized in that, The step of obtaining the lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle includes: Obtain the current lane-changing status of the lane-changing vehicle, including preparing to change lanes and changing lanes in progress. In response to the lane change state being ready to change lanes, a first preset coefficient is used as the coefficient of the lane change risk threshold; In response to the lane change status being "in the middle of a lane change", a second preset coefficient is used as the coefficient of the lane change risk threshold; The lane change risk threshold is determined based on the calculation result of multiplying the coefficient of the lane change risk threshold by a fixed parameter.

5. The method according to claim 1, characterized in that, Based on the lane change risk threshold, the risk assessment results for the target vehicles directly in front, to the side front, and to the side rear are obtained, including: If 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 the following: 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, a risk assessment result is obtained indicating that the target vehicle directly ahead poses a risk when the lane-changing vehicle changes lanes; and / or If the speed of the target vehicle to the side is greater than or equal to the speed of the lane-changing vehicle, in response to at least one of the following: the distance between the target vehicle to the side and the lane-changing vehicle is less than the distance threshold, or the risk time distance between the target vehicle to the side and the lane-changing vehicle is less than the time distance threshold, a risk assessment result is obtained indicating that the target vehicle to the side poses a risk when the lane-changing vehicle changes lanes; and / or If the speed of the target vehicle to the side and rear is greater than or equal to the speed of the vehicle changing lanes, in response to at least one of the following: the distance between the target vehicle to the side and rear and the vehicle changing lanes is less than the distance threshold, or the risk time distance between the target vehicle to the side and rear and the vehicle changing lanes is less than the time distance threshold, a risk assessment result is obtained indicating that the target vehicle to the side and rear causes a risk when the vehicle changing lanes changes lanes.

6. The method according to claim 5, characterized in that, The step of assessing the risk of the target vehicle to the side, the target vehicle in front of the side, and the target vehicle behind the side based on the lane change risk threshold includes: If 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 the following: the distance between the target vehicle directly ahead and the lane-changing vehicle is less than a distance threshold, or the duration of the collision between the target vehicle directly ahead and the lane-changing vehicle is less than a duration threshold, a risk assessment result is obtained indicating that the target vehicle directly ahead poses a risk when the lane-changing vehicle changes lanes; and / or If the speed of the target vehicle on the side front is less than the speed of the lane-changing vehicle, in response to at least one of the following: the distance between the target vehicle on the side front and the lane-changing vehicle is less than the distance threshold, or the duration of the collision between the target vehicle on the side front and the lane-changing vehicle is less than the duration threshold, a risk assessment result is obtained indicating that the target vehicle on the side front poses a risk when the lane-changing vehicle changes lanes; and / or If the speed of the target vehicle to the side and rear is less than the speed of the vehicle changing lanes, in response to at least one of the following: the distance between the target vehicle to the side and rear and the vehicle changing lanes is less than the distance threshold, or the duration of the collision between the target vehicle to the side and rear and the vehicle changing lanes is less than the duration threshold, a risk assessment result is obtained indicating that the target vehicle to the side and rear poses a risk when the vehicle changing lanes changes lanes.

7. The method according to claim 1, characterized in that, Based on the lane change risk threshold, a risk assessment is performed on the target vehicle to the side, including: In response to the detection result that the lane-changing vehicle has the target vehicle on its side, a risk assessment result is obtained for the risk caused by the target vehicle on its side when the lane-changing vehicle changes lanes.

8. A device for determining lane change risk, characterized in that, The device includes: The first search module is used to find the first vehicle that is closest to the lane changing vehicle, the second vehicle that is second closest to the lane changing vehicle, and the third vehicle that is most likely to attempt to cut into the lane changing vehicle. The selection module is used to select a target vehicle directly in front of the first vehicle, the second vehicle, and the third vehicle based on at least one of the first distance between the lane-changing vehicle and the first vehicle, the second distance between the lane-changing vehicle and the second vehicle, and the third distance between the lane-changing vehicle and the third vehicle. The first acquisition module is used to acquire the detection results of target vehicles on the front and side. The detection results of target vehicles on the front and side are used to indicate whether there are target vehicles on the front and side of the lane-changing vehicle. The target vehicles on the front and side are vehicles whose length overlaps with the length of the projection area of ​​the lane-changing vehicle in the target lane. The second search module is used to respond to the detection result that the lane-changing vehicle has the target vehicle on the side, search for the vehicle in front of the rear axle of the target vehicle on the side as the target vehicle on the side front, and search for the vehicle behind the rear axle as the target vehicle on the side rear. The second acquisition module is used to acquire the lane change risk threshold corresponding to the current lane change state of the lane-changing vehicle. The lane change risk threshold includes a spacing threshold, a time distance threshold, and a duration threshold. The spacing threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the spacing. The time distance threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the time distance. The duration threshold is obtained by multiplying the coefficient of the lane change risk threshold by a fixed parameter corresponding to the duration. The coefficient of the lane change risk threshold includes a first preset coefficient for the preparation of lane change and a second preset coefficient for lane change. The second preset coefficient is greater than the first preset coefficient. The third acquisition module is used to acquire risk assessment results of the target vehicle directly in front, the target vehicle directly to the side, the target vehicle to the side front, and the target vehicle to the side rear based on the lane change risk threshold. The risk assessment results are used to indicate whether the vehicle corresponding to the lane-changing vehicle causes a risk when the lane-changing vehicle changes lanes. The device is also used to display the risk assessment results of each of the target vehicles via an in-vehicle display screen.

9. A computer program product comprising computer instructions that, when executed by a processor, implement the steps of the method for determining lane change risk as described in 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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