Lane changing process display method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of automobile safety, in particular to a lane changing process display method and device, a vehicle and a storage medium, and the method comprises the steps that the lane changing intention of the vehicle is recognized; a target lane is determined according to the lane changing intention, the actual distance between the vehicle and a lane line of the lane is obtained, and the lane width of the lane line is calculated according to the actual distance; and determining the cross-line opportunity when the vehicle changes from the current lane to the target lane according to the change of the actual distance, calculating the transverse movement distance of the vehicle based on the actual distance and the cross-line opportunity of lane change, and displaying one or more of the target lane, the current lane, the lane width and the transverse movement distance in real time. And when the vehicle changes the lane and crosses the line, the line crossing mark corresponding to the lane changing and line crossing time is displayed. Therefore, the problems that in the prior art, the whole lane changing process cannot be visually displayed, data acquisition is not flexible in the display process, data processing is not accurate and the like are solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile safety technology, and in particular to a lane-changing process display method, device, vehicle and storage medium. Background Art

[0002] With the popularization of new energy vehicles, the field of autonomous driving will become a top priority for future development. Among them, the automatic lane change function is an important assisted driving function. It can realize automatic lane change during driving by using the vehicle's sensors and control systems. It can not only improve driving comfort and safety, but also reduce the burden on the driver and bring a better driving experience to the driver.

[0003] In the related technology, there are methods for vehicle lane changing. Publication No. CN103587529B (A system and method for predicting the time of crossing the line during lane changing in a straight road section) proposes a method for judging the crossing of the line during lane changing, but it is only for straight roads and is not used to display the lane changing process; Publication No. CN107139930A (A system and method for assisting vehicle lane changing based on HUD head-up display technology) projects the lane changing method onto the HUD display to assist the driver in changing lanes and thus improve the safety of lane changing.

[0004] However, in the related technology, it is impossible to display the entire lane changing process intuitively. The data sources in the autonomous driving system are mainly high-precision maps and sensors, but high-precision maps are not available on all roads, and the data collected by the sensors is also inaccurate. Summary of the invention

[0005] One of the purposes of the present invention is to provide a method for displaying a lane changing process, so as to solve the problems in the prior art that the entire lane changing process cannot be displayed intuitively, data acquisition is inflexible during the display process, and data processing is inaccurate; the second purpose is to provide a lane changing process display device; the third purpose is to provide a vehicle; and the fourth purpose is to provide a storage medium.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A method for displaying a lane-changing process comprises: identifying a lane-changing intention of a vehicle; determining a target lane according to the lane-changing intention, acquiring an actual distance between the vehicle and a lane line of the own lane, and calculating a lane width of the lane line according to the actual distance; determining a lane-crossing timing when the vehicle changes lanes from the own lane to the target lane according to a change in the actual distance, and calculating a lateral movement distance of the vehicle based on the actual distance and the lane-changing lane-crossing timing, displaying one or more of the target lane, the own lane, the lane width and the lateral movement distance in real time, and displaying a lane-crossing sign corresponding to the lane-changing lane-crossing timing when the vehicle changes lanes and crosses the lane.

[0008] According to the above-mentioned technical means, the embodiment of the present application can determine the target lane according to the lane change awareness, obtain the actual distance between the vehicle and the lane line of the lane, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, so as to calculate the lane width; judge the crossing time according to the distance between the vehicle and the lane line, calculate the lateral movement distance, display the calculated data in real time, and display the corresponding crossing sign when the vehicle changes lanes and crosses the line. Since the road may be a regular or irregular road, in order to unify the road algorithm, it is necessary to set a crossing sign, so as to display the entire process of the vehicle lane change and enhance the autonomous driving experience.

[0009] Furthermore, the target lane and the own lane are set with different display colors.

[0010] According to the above-mentioned technical means, the embodiment of the present application can set different display colors for the target lane and the current lane. For example, the display color of the target lane is red, and the display color of the current lane is yellow. By marking different display colors, different lanes can be distinguished, thereby improving the display effect of the vehicle changing lanes from the current lane to the target lane.

[0011] Further, the obtaining of the actual distance between the vehicle and the lane line of the lane includes: taking any point of the vehicle as a target point; obtaining a first distance between the target point and the left lane line of the lane, and a second distance between the target point and the right lane line of the lane.

[0012] According to the above-mentioned technical means, the embodiment of the present application can obtain the actual distance between the vehicle and the lane line of the lane, wherein, taking any point of the vehicle as the target point, the first distance between the vehicle and the left lane line of the lane and the second distance between the vehicle and the right lane line of the lane can be obtained. The embodiment of the present application obtains the first distance between the vehicle and the left lane line and the second distance between the vehicle and the right lane line of the lane through high-precision maps or sensor data, thereby facilitating the subsequent unified processing of data such as lane width, the vehicle, and cross-line signs.

[0013] Further, calculating the lane width of the lane line according to the actual distance includes: obtaining the lane width according to the sum of the first distance and the second distance.

[0014] According to the above technical means, the embodiment of the present application can obtain the lane width by summing the first distance and the second distance, thereby ensuring that the vehicle changes lanes within the specified safety range and reducing accidents caused by insufficient lane width.

[0015] Further, determining the lane-crossing timing when the vehicle changes lanes from the current lane to the target lane based on the change in the actual distance includes: respectively detecting the change trends of the first distance and the second distance; if the change trend of the first distance is close to a preset value, determining that the vehicle is at the lane-crossing timing when changing lanes to the right; if the change trend of the second distance is close to the preset value, determining that the vehicle is at the lane-crossing timing when changing lanes to the left.

[0016] According to the above-mentioned technical means, the embodiment of the present application can detect the changing trends of the first distance and the second distance. When the changing trend of the first distance approaches the preset value, it is the time for the vehicle to change lanes and cross the line when changing lanes to the right. When the changing trend of the second distance approaches the preset value, it is the time for the vehicle to change lanes and cross the line when changing lanes to the left, thereby avoiding the inaccuracy of the timing of crossing the line due to irregular roads.

[0017] Furthermore, the calculating of the lateral movement distance of the vehicle based on the actual distance and the lane-changing crossing timing includes: determining whether the vehicle has crossed the lane according to the lane-changing crossing timing; if the vehicle has not crossed the lane, calculating the lateral movement distance according to the lane width and the actual distance between the vehicle and the lane line on one side corresponding to the lane-changing crossing timing; if the vehicle has crossed the lane, calculating the lateral movement distance according to the distance between the vehicle and the lane lines on both sides.

[0018] According to the above technical means, the embodiment of the present application can determine whether the vehicle has crossed the line according to the timing of lane crossing. When the vehicle has not crossed the line, the lateral movement distance is calculated according to the lane width and the actual distance between the vehicle and the lane line on one side corresponding to the timing of lane crossing. Otherwise, the lateral movement distance is calculated according to the distance between the vehicle and the lane lines on both sides. Since the calculation methods before and after crossing the line are different, it is necessary to accurately calculate data such as the lane width, the vehicle, and the crossing sign, so as to ensure the accuracy of the lateral movement distance and improve the safety of vehicle driving.

[0019] Furthermore, before displaying one or more of the target lane, the own lane, the lane width and the lateral movement distance in real time, the method further includes: performing anti-shake filtering processing on the lateral movement distance.

[0020] According to the above-mentioned technical means, the embodiment of the present application can perform anti-shake filtering processing on the lateral movement distance. Because the lateral movement distance of the vehicle should become smaller and smaller during the lane change and change linearly, but there are errors in actual driving. The anti-shake filtering processing can make the lane change process appear smoother, reduce the additional interference of the data, and improve the analysis accuracy.

[0021] Furthermore, the anti-shake filtering processing is performed on the lateral movement distance, including: obtaining the lateral movement distance of the current cycle; if the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, then using the lateral movement distance of the previous cycle as the lateral movement distance of the current cycle; if the lateral movement distance of the current cycle is less than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is less than a preset value, then reducing the distance difference to a target value, and calculating the lateral movement distance of the current cycle based on the lateral movement distance of the previous cycle and the target value.

[0022] According to the above-mentioned technical means, in the embodiment of the present application, when the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, the lateral movement distance of the previous cycle can be used as the lateral movement distance of the previous cycle. When the lateral movement distance of the current cycle is less than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is less than the preset value, anti-shake processing is performed to prevent the vehicle from suddenly flashing a distance instead of moving smoothly during the lateral movement process. The reduced distance difference is set as the target value, and the lateral movement distance is calculated together with the lateral movement distance of the previous cycle, so that the vehicle moves more smoothly.

[0023] A lane-changing process display device comprises: an identification module for identifying a lane-changing intention of a vehicle; an acquisition module for determining a target lane according to the lane-changing intention, acquiring an actual distance between the vehicle and a lane line of the own lane, and calculating a lane width of the lane line according to the actual distance; a calculation module for determining a lane-crossing timing when the vehicle changes lanes from the own lane to the target lane according to a change in the actual distance, and calculating a lateral movement distance of the vehicle based on the actual distance and the lane-changing lane-crossing timing, displaying one or more of the target lane, the own lane, the lane width and the lateral movement distance in real time, and displaying a lane-crossing sign corresponding to the lane-changing lane-crossing timing when the vehicle changes lanes and crosses the lane.

[0024] A vehicle comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lane changing process display method as described in the above embodiment.

[0025] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the lane changing process display method as described in the above embodiment.

[0026] Beneficial effects of the present invention:

[0027] (1) The embodiment of the present application can determine the target lane according to the lane change awareness, obtain the actual distance between the vehicle and the lane line of the lane, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, so as to calculate the lane width; determine the crossing time according to the distance between the vehicle and the lane line, calculate the lateral movement distance, display the calculated data in real time, and display the corresponding crossing sign when the vehicle changes lanes and crosses the line. Since the road may be regular or irregular, in order to unify the road algorithm, it is necessary to set the crossing sign, so as to display the entire process of the vehicle changing lanes and improve the autonomous driving experience;

[0028] (2) In the embodiment of the present application, different display colors can be set for the target lane and the own lane. For example, the target lane is displayed in red and the own lane is displayed in yellow. Different lanes can be distinguished by marking different display colors, thereby improving the display effect of the vehicle changing lanes from the own lane to the target lane;

[0029] (3) The embodiment of the present application can obtain the actual distance between the vehicle and the lane line of the own lane. In particular, taking any point of the vehicle as the target point, the first distance between the vehicle and the left lane line of the own lane and the second distance between the vehicle and the right lane line of the own lane can be obtained. The embodiment of the present application obtains the first distance between the vehicle and the left lane line of the own lane and the second distance between the vehicle and the right lane line through high-precision maps or sensor data, thereby facilitating the subsequent unified processing of data such as lane width, own vehicle, and cross-line sign;

[0030] (4) The embodiment of the present application can detect the changing trend of the first distance and the second distance. When the changing trend of the first distance approaches the preset value, it is the time for the vehicle to change lanes to the right and cross the lane. When the changing trend of the second distance approaches the preset value, it is the time for the vehicle to change lanes to the left, thereby avoiding the inaccuracy of the time of crossing the lane caused by irregular roads.

[0031] (5) In the embodiment of the present application, the lane width can be obtained by summing the first distance and the second distance, thereby ensuring that the vehicle changes lanes within a specified safety range and reducing accidents caused by insufficient lane width;

[0032] (6) The embodiment of the present application can determine whether the vehicle has crossed the lane according to the lane-changing crossing timing. When the vehicle has not crossed the lane, the lateral movement distance is calculated based on the lane width and the actual distance between the vehicle and the lane line on the side corresponding to the lane-changing crossing timing. Otherwise, the lateral movement distance is calculated based on the distance between the vehicle and the lane lines on both sides. Since the calculation methods before and after crossing the lane are different, it is necessary to accurately calculate the data such as the lane width, the vehicle, and the crossing sign, so as to ensure the accuracy of the lateral movement distance and improve the safety of vehicle driving.

[0033] (7) In the embodiment of the present application, the lateral movement distance can be processed by anti-shake filtering. Because during the lateral movement of the vehicle during lane change, the lateral movement distance should be smaller and smaller, changing linearly. However, there are errors in actual driving. Through anti-shake filtering, the lane change process can be displayed more smoothly, reducing the additional interference of the collected data and improving the analysis accuracy.

[0034] (8) In the embodiment of the present application, when the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, the lateral movement distance of the previous cycle can be used as the lateral movement distance of the previous cycle. When the lateral movement distance of the current cycle is less than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is less than a preset value, anti-shake processing is performed to prevent the vehicle from suddenly flashing a distance instead of moving smoothly during the lateral movement process. The reduced distance difference is set as the target value, and the lateral movement distance is calculated together with the lateral movement distance of the previous cycle, so that the vehicle moves more smoothly.

[0035] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A flow chart of a lane changing process display method provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a lane change intention provided by an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of a lateral movement distance of a vehicle provided by an embodiment of the present invention;

[0039] Figure 4 A flow chart of a lane changing process display method provided by one embodiment of the present invention;

[0040] Figure 5 A block diagram of a lane changing process display device provided by an embodiment of the present invention;

[0041] Figure 6A schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0044] With the popularity of new energy vehicles, various automobile manufacturers are competing to take the lead in the new field of autonomous driving. In addition to driving safety and comfort, a friendly human-computer interaction system is also a very important aspect of autonomous driving. Lane changing is an indispensable and frequent action of vehicles during driving, such as overtaking, avoiding merging, avoiding obstacles, on and off ramps, and many other scenarios. If the entire lane changing process can be displayed intuitively from start to finish, it will add a lot of points to the entire autonomous driving system.

[0045] Accurately displaying the lane-changing process requires accurate data support, such as the distance between the vehicle and the lane line, the distance the vehicle needs to move, and the judgment of the vehicle crossing the lane. For a relatively standard main road, the data may not require much processing, but for the intersection of the main road and the ramp or other irregular roads, data processing is very important. Therefore, having a universal method for data acquisition and processing is the top priority of display.

[0046] The data sources used by autonomous driving systems mainly include high-precision maps and sensors. However, high-precision maps are not available on all roads, and the data collected by sensors may be inaccurate.

[0047] Specifically, Figure 1 A flowchart of a lane changing process display method provided in an embodiment of the present application.

[0048] like Figure 1 As shown, the lane changing process display method includes the following steps:

[0049] In step S101 , the lane-changing intention of the vehicle is identified.

[0050] It can be understood that the lane-changing intention can be the vehicle's intention to change lanes from the current lane to another lane. The embodiments of the present application can be determined based on the scenario, autonomous driving plan or user instructions. For example, when exiting the ramp from the main road or entering the main road from the ramp, it can be determined that the vehicle has the intention to change lanes.

[0051] It should be noted that the target lane or the intention of going down the ramp from the main road or going up the ramp from the main road, such as Figure 2 As shown, after recognizing that the vehicle intends to change lanes, the target lane can be marked with another color.

[0052] In step S102, the target lane is determined according to the lane change intention, the actual distance between the vehicle and the lane line of the lane is obtained, and the lane width of the lane line is calculated according to the actual distance.

[0053] The target lane may be the lane where the vehicle plans to change lanes. For example, if the vehicle is about to change lanes to the left, the target lane is the lane to the left of the vehicle.

[0054] It can be understood that the embodiments of the present application can determine the target lane based on lane change awareness and obtain the actual distance between the vehicle and the lane line of the lane, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, so as to calculate the lane width and ensure the safety of the vehicle when changing lanes.

[0055] In the embodiment of the present application, different display colors are set for the target lane and the own lane.

[0056] The target lane setting may be displayed in red, etc., and the current lane setting may be displayed in yellow, etc. The specific colors can be set specifically. For example, Figure 2 As shown, in the embodiment of the present application, the target lane can be set to black and the current lane to white to distinguish different lanes.

[0057] It is understandable that the embodiment of the present application can set different display colors for the target lane and the own lane, and distinguish different lanes by marking different display colors, thereby improving the display effect when the vehicle changes lanes from the own lane to the target lane.

[0058] In an embodiment of the present application, the actual distance between the vehicle and the lane line of the lane is obtained, including: taking any point of the vehicle as the target point; obtaining a first distance between the target point and the left lane line of the lane, and a second distance between the target point and the right lane line of the lane.

[0059] Among them, any point of the vehicle can be a steering wheel or an accelerator, etc., the first distance can be the distance between the vehicle and the left lane line, and the second distance can be the distance between the vehicle and the right lane line.

[0060] It can be understood that the embodiment of the present application can obtain the actual distance between the vehicle and the lane line of the lane, wherein, taking any point of the vehicle as the target point, the first distance between the vehicle and the left lane line of the lane and the second distance between the vehicle and the right lane line of the lane can be obtained. The embodiment of the present application obtains the first distance between the vehicle and the left lane line and the second distance between the vehicle and the right lane line of the lane through high-precision maps or sensor data, thereby facilitating the subsequent unified processing of data such as lane width, the vehicle, and cross-line signs.

[0061] In an embodiment of the present application, calculating the lane width of the lane line according to the actual distance includes: obtaining the lane width by summing the first distance and the second distance.

[0062] It can be understood that the embodiment of the present application can obtain the lane width by summing the first distance and the second distance, thereby ensuring that the vehicle changes lanes within a specified safety range and reducing accidents caused by insufficient lane width.

[0063] For example, in the embodiment of the present application, it is assumed that D L is the distance between the vehicle and the left lane line, D R is the distance between the vehicle and the right lane line, and the lane width is calculated as follows: W = D L +D R .

[0064] In step S103, the crossing timing when the vehicle changes lanes from the current lane to the target lane is determined according to the change in actual distance, and the lateral movement distance of the vehicle is calculated based on the actual distance and the lane-changing crossing timing, and one or more of the target lane, the current lane, the lane width and the lateral movement distance are displayed in real time, and a lane-changing crossing sign corresponding to the lane-changing crossing timing is displayed when the vehicle changes lanes and crosses the line.

[0065] The lateral moving distance may be 3.7 meters, without specific limitation.

[0066] It can be understood that the embodiments of the present application can determine the timing of crossing the lane based on the distance between the vehicle and the lane line, calculate the lateral movement distance, display the calculated data in real time, and display the corresponding crossing sign when the vehicle changes lanes and crosses the lane. Since the road may be regular or irregular, in order to unify the road algorithm, it is necessary to set a crossing sign, thereby displaying the entire process of the vehicle changing lanes and improving the autonomous driving experience.

[0067] It should be noted that, in the embodiment of the present application, a line crossing flag may be set after the line crossing, for example, the line crossing flag may be OverL, then OverL=0 before the line crossing, and OverL=1 after the line crossing.

[0068] In an embodiment of the present application, the timing of crossing the lane when the vehicle changes lanes from the current lane to the target lane is determined according to the change in the actual distance, including: respectively detecting the changing trends of the first distance and the second distance; if the changing trend of the first distance is close to a preset value, determining that the vehicle is at the time of crossing the lane when changing lanes to the right; if the changing trend of the second distance is close to the preset value, determining that the vehicle is at the time of crossing the lane when changing lanes to the left.

[0069] Among them, the changing trend of the first distance can be a trend that the distance between the vehicle and the left lane line is gradually reduced, and the changing trend of the second distance can be a trend that the distance between the vehicle and the right lane line is gradually reduced. The preset value can be 0, etc., without specific limitation.

[0070] It can be understood that the embodiment of the present application can detect the changing trends of the first distance and the second distance. When the changing trend of the first distance approaches the preset value, it is the time for the vehicle to change lanes and cross the line when changing lanes to the right. When the changing trend of the second distance approaches the preset value, it is the time for the vehicle to change lanes and cross the line when changing lanes to the left, thereby avoiding the inaccuracy of the timing of crossing the line due to irregular roads.

[0071] It should be noted that in the embodiment of the present application, when the vehicle changes lanes to the left, if D R If it approaches 0, it means crossing the line to the left. When changing lanes to the right, if D L Approaching 0 means crossing the line to the right.

[0072] In an embodiment of the present application, the lateral movement distance of the vehicle is calculated based on the actual distance and the lane changing crossing timing, including: determining whether the vehicle has crossed the line according to the lane changing crossing timing; if the vehicle has not crossed the line, the lateral movement distance is calculated based on the lane width and the actual distance between the vehicle and the lane line on one side corresponding to the lane changing crossing timing; if the vehicle has crossed the line, the lateral movement distance is calculated based on the distance between the vehicle and the lane lines on both sides.

[0073] It can be understood that the embodiments of the present application can determine whether the vehicle has crossed the line according to the timing of lane crossing. When the vehicle has not crossed the line, the lateral movement distance is calculated by the lane width and the actual distance between the vehicle and the lane line on one side corresponding to the timing of lane crossing. Otherwise, the lateral movement distance is calculated based on the distance between the vehicle and the lane lines on both sides. Since the calculation methods before and after crossing the line are different, it is necessary to accurately calculate data such as the lane width, the vehicle, and the crossing sign, so as to ensure the accuracy of the lateral movement distance and improve the safety of vehicle driving.

[0074] For example, the present application embodiment is described by taking the calculation of the lateral movement distance of the vehicle as an example. Figure 3 As shown, assuming that the distance the vehicle moves laterally is D lat , where the calculation methods before and after crossing the line are different, as described below:

[0075] a) Calculation method of lateral movement distance when changing lanes to the left:

[0076] Before crossing the line (OverL=0): D lat =min(1.875+D L , 3.7), where 1.875 may be half of the standard lane width. It should be noted that the standard lane width may be the width of the target lane, and 3.7 may be the maximum distance of the vehicle's lateral movement;

[0077] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D R , where D L It can be the distance between the vehicle on the target lane and the left side of the target lane, D R It can be the distance between the vehicle on the target lane and the right side of the target lane, (D L +D R ) / 2 is half of the width of the target lane. Since the driver usually drives in the middle of the target lane, the calculation of the lateral movement distance after crossing the line takes into account the middle of the target lane.

[0078] b) Calculation method of lateral movement distance when changing lanes to the right:

[0079] Before crossing the line (OverL=0): D lat =min(1.875+D R , 3.7), where 1.875 may be half of the standard lane width. It should be noted that the standard lane width may be the width of the target lane, and 3.7 may be the maximum distance of the vehicle's lateral movement;

[0080] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D L , where D L It can be the distance between the vehicle on the target lane and the left side of the target lane, D R It can be the distance between the vehicle on the target lane and the right side of the target lane, (D L +D R ) / 2 is half of the width of the target lane. Since the driver usually drives in the middle of the target lane, the calculation of the lateral movement distance after crossing the line takes into account the middle of the target lane.

[0081] In the embodiment of the present application, before displaying one or more of the target lane, the own lane, the lane width and the lateral movement distance in real time, it also includes: performing anti-shake filtering processing on the lateral movement distance.

[0082] It can be understood that the embodiment of the present application can perform anti-shake filtering processing on the lateral movement distance, because during the lateral movement of the vehicle when changing lanes, the lateral movement distance should become smaller and smaller, and change linearly, but there are errors in actual driving. Anti-shake filtering processing can make the lane changing process appear smoother, reduce additional interference in the data, and improve analysis accuracy.

[0083] In an embodiment of the present application, an anti-shake filtering process is performed on the lateral movement distance, including: obtaining the lateral movement distance of the current cycle; if the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, the lateral movement distance of the previous cycle is used as the lateral movement distance of the current cycle; if the lateral movement distance of the current cycle is less than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is less than a preset value, the distance difference is reduced to a target value, and the lateral movement distance of the current cycle is calculated based on the lateral movement distance of the previous cycle and the target value.

[0084] Among them, the preset value can be specifically calibrated, etc.

[0085] It can be understood that, in the embodiment of the present application, when the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, the lateral movement distance of the previous cycle can be used as the lateral movement distance of the previous cycle. When the lateral movement distance of the current cycle is less than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is less than a preset value, anti-shake processing is performed to prevent the vehicle from suddenly flashing a distance instead of moving smoothly during the lateral movement process. The reduced distance difference is set as the target value, and the lateral movement distance is calculated together with the lateral movement distance of the previous cycle, so that the vehicle moves more smoothly.

[0086] Specifically, the filtering and anti-shake processing in the embodiment of the present application is as follows:

[0087] a) When the lateral movement distance D calculated in a certain cycle lat From the smaller value of Old_D in the previous cycle lat When it becomes a larger value, filtering is performed, and the D of this cycle lat Directly use the value of the previous cycle and discard the larger value of the current cycle to prevent the vehicle from swinging back and forth during lateral movement. The specific processing method is as follows: When D lat >Old_D lat , then D lat =Old_D lat.

[0088] b) When the lateral movement distance D calculated in a certain cycle lat The value of the previous cycle Old_D lat When the ratio decreases by more than a certain calibration value, anti-shake processing is performed. This anti-shake process can prevent the vehicle from suddenly flashing a distance instead of moving smoothly during lateral movement. The specific anti-shake method is as follows: D lat =Old_D lat -(Old_D lat -D lat ) / 10, where the number 10 in the formula can be calibrated. The larger the number, the smaller the final calculated value, and the smoother the vehicle moves.

[0089] According to the lane changing process display method proposed in the embodiment of the present application, the target lane is determined through lane changing awareness, and the actual distance between the vehicle and the lane line of the lane is obtained, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, so as to calculate the lane width; the crossing time is judged according to the distance between the vehicle and the lane line, and the lateral movement distance is calculated, and the calculated data is displayed in real time. When the vehicle changes lanes and crosses the line, the corresponding crossing sign is displayed, thereby displaying the entire process of the vehicle's lane changing, improving the autonomous driving experience, thereby solving the problems in the prior art of being unable to intuitively display the entire lane changing process, inflexible data acquisition during the display process, and inaccurate data processing.

[0090] The following will explain the lane change process display method based on the vehicle's high-precision map data and the vehicle's own sensor data. Figure 4 As shown, the specific implementation steps are as follows:

[0091] 1. Based on high-precision maps or sensor data (high-precision map data is used when high-precision maps are available, and sensor data is used when high-precision maps are not available), obtain the distance between the vehicle and the left lane line and the right lane line of the lane, and calculate the width of the lane: Assume D L is the distance between the vehicle and the left lane line, D R is the distance between the vehicle and the right lane line, and the lane width is calculated as follows: W = D L +D R .

[0092] 2. Determine the time to cross the lane based on the distance between the vehicle and the lane line. Whether it is a regular road or an irregular road, there will always be a D when changing lanes. L or D R When it approaches 0, in order to unify the regular road and irregular road algorithms, it is stipulated here that when changing lanes to the left, if D R Approaching 0 means crossing the line. When changing lanes to the right, if DL Approaching 0 indicates crossing the line. A crossing flag is set after crossing the line. Assuming the crossing flag is OverL, OverL = 0 before crossing the line, and OverL = 1 after crossing the line.

[0093] 3. Calculate the distance the vehicle moves laterally, such as Figure 3 As shown, assuming that D lat , where the calculation method before and after crossing the line is different. Among them, 3.75 represents the standard lane width, and 1.875 represents half of the standard lane width; 3.7 is a calibrable value, which specifically refers to the maximum distance that the vehicle can move laterally. The details are as follows:

[0094] a) Calculation method of lateral movement distance when changing lanes to the left:

[0095] Before crossing the line (OverL=0): D lat =min(1.875+D L , 3.7);

[0096] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D R .

[0097] b) Calculation method of lateral movement distance when changing lanes to the right:

[0098] Before crossing the line (OverL=0): D lat =min(1.875+D R , 3.7);

[0099] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D L .

[0100] 4. Anti-shake filtering: When a vehicle is changing lanes and moving laterally, the distance it moves laterally is getting smaller and smaller, changing linearly. However, there are errors in the actual situation. In order to display the lane changing process more smoothly, a simple anti-shake filtering process is required.

[0101] a) When the lateral movement distance D calculated in a certain cycle lat From the smaller value of Old_D in the previous cycle lat When it becomes a larger value, filtering is performed, and the D of this cycle lat Directly use the value of the previous cycle and discard the larger value of the current cycle to prevent the vehicle from swinging back and forth during lateral movement. The specific processing method is as follows:

[0102] When Dlat >Old_D lat ; then D lat =Old_D lat .

[0103] b) When the lateral movement distance D calculated in a certain cycle lat The value of the previous cycle Old_D lat When the value becomes smaller than a certain calibration value △D, anti-shake processing is performed. This anti-shake process can prevent the vehicle from suddenly flashing a distance instead of moving smoothly during lateral movement. The specific anti-shake method is as follows:

[0104] D lat =Old_D lat -(Old_D lat -D lat ) / 10.

[0105] The number 10 in the above formula can be specifically calibrated. The larger the number, the smaller the final calculated value is, and the smoother the vehicle moves.

[0106] In summary, the embodiments of the present application utilize high-precision map data and data collected by the vehicle's own sensors in combination. High-precision map data is used on sections with high-precision maps, and the vehicle's own sensor data is used on sections without high-precision maps. The data is then processed uniformly to calculate key information such as lane width, the distance the vehicle still needs to move, and cross-line signs. The calculated data is then filtered to obtain smoother data, and finally the processed data is sent to a display unit for display, thereby displaying the entire process of the vehicle's lane change and improving the autonomous driving experience.

[0107] Next, the lane changing process display device proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0108] Figure 5 It is a block diagram of a lane changing process display device according to an embodiment of the present application.

[0109] like Figure 5 As shown, the lane changing process display device 10 includes: a recognition module 100 , an acquisition module 200 and a calculation module 300 .

[0110] Among them, the recognition module 100 is used to identify the vehicle's lane-changing intention; the acquisition module 200 is used to determine the target lane according to the lane-changing intention, obtain the actual distance between the vehicle and the lane line of the lane, and calculate the lane width of the lane line according to the actual distance; the calculation module 300 is used to determine the crossing timing when the vehicle changes lanes from the lane to the target lane according to the change in the actual distance, and calculate the lateral movement distance of the vehicle based on the actual distance and the lane-changing crossing timing, display one or more of the target lane, the lane, the lane width and the lateral movement distance in real time, and display the lane-changing crossing timing. Crossing sign corresponding to the lane-changing crossing timing.

[0111] In the embodiment of the present application, the acquisition module 200 is also used to acquire a first distance between the target point and the left lane line of the lane, and a second distance between the target point and the right lane line of the lane.

[0112] In the embodiment of the present application, the acquisition module 200 is also used to acquire the lateral movement distance of the current cycle.

[0113] In the embodiment of the present application, the calculation module 300 is further configured to obtain the lane width by summing the first distance and the second distance.

[0114] In an embodiment of the present application, the calculation module 300 is also used to determine whether the vehicle has crossed the line according to the lane changing crossing timing; if the vehicle has not crossed the line, the lateral movement distance is calculated according to the lane width and the actual distance between the vehicle and the lane line on the side corresponding to the lane changing crossing timing; if the vehicle has crossed the line, the lateral movement distance is calculated according to the distance between the vehicle and the lane lines on both sides.

[0115] In an embodiment of the present application, the calculation module 300 is also used to reduce the distance difference to a target value if the lateral movement distance of the current cycle is smaller than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is smaller than a preset value, and calculate the lateral movement distance of the current cycle based on the lateral movement distance of the previous cycle and the target value.

[0116] It should be noted that the aforementioned explanation of the lane changing process display method embodiment is also applicable to the lane changing process display device of this embodiment, and will not be repeated here.

[0117] According to the lane changing process display device proposed in the embodiment of the present application, the target lane is determined through lane changing awareness, and the actual distance between the vehicle and the lane line of the lane is obtained, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, so as to calculate the lane width; the crossing time is judged according to the distance between the vehicle and the lane line, and the lateral movement distance is calculated, and the calculated data is displayed in real time. When the vehicle changes lanes and crosses the line, the corresponding crossing sign is displayed, thereby displaying the entire process of the vehicle's lane changing, improving the autonomous driving experience, thereby solving the problems in the prior art of being unable to intuitively display the entire lane changing process, inflexible data acquisition during the display process, and inaccurate data processing.

[0118] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0119] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0120] When the processor 602 executes the program, the lane changing process display method provided in the above embodiment is implemented.

[0121] Furthermore, the vehicle also includes:

[0122] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0123] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0124] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0125] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0126] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0127] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0128] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the lane changing process display method as described above.

[0129] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0130] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0132] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0133] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0134] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A lane changing process display method, characterized in that: The following steps are involved: Identify the vehicle's lane-changing intention; Determine a target lane according to the lane change intention, obtain an actual distance between the vehicle and a lane line of the lane, and calculate a lane width of the lane line according to the actual distance; The lane-crossing timing when the vehicle changes lanes from the present lane to the target lane is determined according to the change of the actual distance, and the lateral movement distance of the vehicle is calculated based on the actual distance and the lane-crossing timing, and one or more of the target lane, the present lane, the lane width and the lateral movement distance are displayed in real time, and a lane-crossing sign corresponding to the lane-changing crossing timing is displayed when the vehicle changes lanes and crosses the lane.

2. The lane changing process display method according to claim 1, characterized in that: The obtaining of the actual distance between the vehicle and the lane line of the lane includes: Taking any point of the vehicle as a target point; A first distance between the target point and a left lane line of the host lane, and a second distance between the target point and a right lane line of the host lane are obtained.

3. The lane changing process display method according to claim 2, characterized in that: The calculating the lane width of the lane line according to the actual distance includes: The lane width is obtained by summing the first distance and the second distance.

4. The lane changing process display method according to claim 2, characterized in that: The determining, according to the change in the actual distance, the lane-crossing timing when the vehicle changes lanes from the lane to the target lane includes: respectively detecting the changing trends of the first distance and the second distance; If the variation trend of the first distance approaches a preset value, determining that the vehicle is at a lane-changing crossing timing when changing lanes to the right; If the variation trend of the second distance approaches a preset value, the vehicle is at a time of changing lanes and crossing lanes when changing lanes to the left.

5. The lane changing process display method according to claim 1, characterized in that: The calculating the lateral movement distance of the vehicle based on the actual distance and the lane-changing crossing opportunity includes: Determining whether the vehicle has crossed the lane according to the lane-changing crossing timing; If the vehicle does not cross the lane, the lateral movement distance is calculated according to the lane width and the actual distance between the vehicle and the lane line on the side corresponding to the lane-changing crossing opportunity; If the vehicle has crossed the lane, the lateral movement distance is calculated according to the distance between the vehicle and the lane lines on both sides.

6. The lane changing process display method according to claim 1, characterized in that: Before displaying one or more of the target lane, the own lane, the lane width and the lateral movement distance in real time, the method further includes: An anti-shake filtering process is performed on the lateral movement distance.

7. The lane changing process display method according to claim 6, characterized in that: The performing anti-shake filtering processing on the lateral movement distance includes: Get the horizontal moving distance of the current cycle; If the lateral movement distance of the current cycle is greater than the lateral movement distance of the previous cycle, the lateral movement distance of the previous cycle is used as the lateral movement distance of the current cycle; If the lateral movement distance of the current cycle is smaller than the lateral movement distance of the previous cycle, and the distance difference between the two cycles is smaller than a preset value, the distance difference is reduced to a target value, and the lateral movement distance of the current cycle is calculated based on the lateral movement distance of the previous cycle and the target value.

8. A lane-changing process display device, characterized in that: include: A recognition module for identifying the vehicle's lane-changing intention; an acquisition module, configured to determine a target lane according to the lane change intention, acquire an actual distance between the vehicle and a lane line of the lane, and calculate a lane width of the lane line according to the actual distance; a calculation module, for determining a lane-crossing timing when the vehicle changes lanes from the present lane to the target lane according to a change in the actual distance, and calculating a lateral movement distance of the vehicle based on the actual distance and the lane-crossing timing, displaying one or more of the target lane, the present lane, the lane width and the lateral movement distance in real time, and displaying a lane-crossing sign corresponding to the lane-changing lane-crossing timing when the vehicle changes lanes and crosses the lane.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the lane changing process display method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the lane changing process display method as described in any one of claims 1-7.

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