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

Abstract

The application 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, wherein the method comprises the following steps: 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 current lane, and calculating a lane width of the lane line according to the actual distance; determining a lane crossing time when the vehicle changes lanes from the current lane to the target lane according to the change of the actual distance, and calculating a lateral moving distance of the vehicle based on the actual distance and the lane crossing time; and displaying one or more of the target lane, the current lane, the lane width and the lateral moving distance in real time, and displaying a lane crossing sign corresponding to the lane crossing time when the vehicle changes lanes and crosses the lane. Therefore, the problems that the entire lane changing process cannot be intuitively displayed, the data acquisition is not flexible during the display process, and the data processing is not accurate in the prior art are solved.

Description

TECHNICAL FIELD

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

[0002] With the popularization of new energy vehicles, the field of automatic driving will become the top priority in future development. Among them, the automatic lane changing function is an important auxiliary driving function. It can automatically change lanes during driving by using the sensors and control systems of the vehicle. It not only improves the comfort and safety of driving, but also reduces the burden on the driver, providing a better driving experience for the driver.

[0003] In related technologies, there are methods for vehicle lane changing. The publication CN103587529B (a straight road section lane changing process crossing line time prediction system and method) proposes a lane changing crossing line judgment method, but only on straight roads and not for displaying the lane changing process. The publication CN107139930A (an automobile lane changing auxiliary driving system and method based on HUD head-up display technology) projects the lane changing method to the HUD display to assist the driver in lane changing to improve lane changing safety.

[0004] However, in related technologies, the entire lane changing process cannot be displayed intuitively. In the automatic driving system, the data sources are mainly high-precision maps and sensors, but high-precision maps are not available on all road segments, and the data collected by sensors may also be inaccurate. SUMMARY

[0005] One of the purposes of the present application is to provide a lane changing process display method to solve the problem of not being able to intuitively display the entire lane changing process in the prior art, and the problem of not flexible data acquisition and inaccurate data processing in the display process. The second purpose is to provide a lane changing process display device. The third purpose is to provide a vehicle. The fourth purpose is to provide a storage medium.

[0006] In order to achieve the above purposes, the technical solutions adopted by the present application are as follows:

[0007] The method comprises the following steps: 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 a current lane; calculating a lane width of the lane line according to the actual distance; determining a lane crossing time when the vehicle changes from the current lane to the target lane according to a change of the actual distance; calculating a lateral moving distance of the vehicle based on the actual distance and the lane crossing time; and displaying one or more of the target lane, the current lane, the lane width and the lateral moving distance in real time, and displaying a lane crossing sign corresponding to the lane crossing time when the vehicle changes lanes.

[0008] According to the above technical means, the target lane can be determined according to the lane changing intention, the actual distance between the vehicle and the lane line of the current lane, such as the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, is acquired, so as to calculate the lane width; the lane crossing time is determined according to the distance between the vehicle and the lane line, and the lateral moving distance is calculated, the calculation data is displayed in real time, and the corresponding lane crossing sign is displayed when the vehicle changes lanes. Since the road can be a regular or irregular road, the lane crossing sign needs to be set to unify the road algorithm, so as to display the whole lane changing process of the vehicle and improve the automatic driving experience.

[0009] Further, the target lane and the current lane are displayed in different colors.

[0010] According to the above technical means, different display colors can be set for the target lane and the current lane, such as red for the target lane and yellow for the current lane, so as to distinguish different lanes by marking different display colors, thereby improving the display effect of the vehicle changing from the current lane to the target lane.

[0011] Further, the actual distance between the vehicle and the lane line of the current lane is acquired by: taking any point of the vehicle as a target point; acquiring a first distance between the target point and a left lane line of the current lane and a second distance between the target point and a right lane line of the current lane.

[0012] According to the above technical means, the actual distance between the vehicle and the lane line of the current lane can be acquired, wherein any point of the vehicle is taken as a target point, the first distance between the left lane line of the current lane and the target point and the second distance between the right lane line of the current lane and the target point can be obtained, and the first distance between the vehicle and the left lane line of the current lane and the second distance between the vehicle and the right lane line of the current lane are acquired by the high-precision map or the sensor data, so as to facilitate subsequent unified processing of the lane width, the current lane, the lane crossing sign and other data.

[0013] Further, the lane width of the lane line is calculated according to the actual distance, including: summing the first distance and the second distance to obtain the lane width.

[0014] According to the above technical means, the lane width can be obtained by summing the first distance and the second distance, so as to ensure that the vehicle changes lanes within a safe range and reduce accidents caused by insufficient lane width.

[0015] Further, the lane width of the lane line is calculated according to the actual distance, including: summing the first distance and the second distance to obtain the lane width.

[0016] According to the above technical means, the lane width can be obtained by summing the first distance and the second distance, so as to ensure that the vehicle changes lanes within a safe range and reduce accidents caused by insufficient lane width.

[0017] Further, the lane width of the lane line is calculated according to the actual distance, including: summing the first distance and the second distance to obtain the lane width.

[0018] According to the above technical means, the lane width can be obtained by summing the first distance and the second distance, so as to ensure that the vehicle changes lanes within a safe range and reduce accidents caused by insufficient lane width.

[0019] Further, in real-time display one or more of the target lane, the lane, the lane width and the lateral movement distance, further comprising: anti-shake filtering processing on the lateral movement distance.

[0020] According to the technical means, the lane changing process display device can perform anti-shake filtering processing on the lateral movement distance. In the lane changing process, the lateral movement distance should be smaller and smaller and change linearly. However, in actual driving, there are errors. The anti-shake filtering processing can make the lane changing process smoother, reduce additional interference of the collected data, and improve the analysis accuracy.

[0021] Further, the anti-shake filtering processing on the lateral movement distance includes: obtaining a lateral movement distance of a current period; if the lateral movement distance of the current period is greater than a lateral movement distance of a previous period, taking the lateral movement distance of the previous period as the lateral movement distance of the current period; if the lateral movement distance of the current period is smaller than the lateral movement distance of the previous period and a distance difference between the two periods is smaller than a preset value, reducing the distance difference to a target value, and calculating the lateral movement distance of the current period according to the lateral movement distance of the previous period and the target value.

[0022] According to the technical means, when the lateral movement distance of the current period is greater than the lateral movement distance of the previous period, the lateral movement distance of the previous period is taken as the lateral movement distance of the previous period. When the lateral movement distance of the current period is smaller than the lateral movement distance of the previous period and a distance difference between the two periods is smaller than a preset value, anti-shake processing is performed. The sudden distance flashing in the lateral movement process of the vehicle can be prevented. The distance difference is reduced to a target value. The lateral movement distance is calculated according to the lateral movement distance of the previous period and the target value. Therefore, the vehicle movement is smoother.

[0023] A lane changing process display device includes: an identification module configured to identify a lane changing intention of a vehicle; an acquisition module configured to determine a target lane according to the lane changing intention, acquire an actual distance between the vehicle and a lane line of a current lane, and calculate a lane width of the lane line according to the actual distance; and a calculation module configured to determine a lane crossing time when the vehicle changes from the current lane to the target lane according to a change in the actual distance, calculate a lateral movement distance of the vehicle based on the actual distance and the lane crossing time, display one or more of the target lane, the current lane, the lane width, and the lateral movement distance in real time, and display a lane crossing sign corresponding to the lane crossing time when the vehicle changes lanes.

[0024] A vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the lane changing process display method described in the above embodiments.

[0025] A computer readable storage medium, having stored thereon a computer program, which is executed by a processor to implement the lane changing process display method according to the above embodiments.

[0026] Advantages of the present application:

[0027] (1) The embodiment of the present application can determine the target lane according to the lane changing 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, and calculate the lane width; the crossing line opportunity is determined according to the distance between the vehicle and the lane line, and the lateral movement distance is calculated, and the calculation data is displayed in real time, and the corresponding crossing line sign is displayed when the vehicle crosses the line, and since the road may be a regular or irregular road, the crossing line sign needs to be set to unify the road algorithm, so as to display the whole process of vehicle lane changing and improve the automatic driving experience;

[0028] (2) The embodiment of the present application can set different display colors for the target lane and the lane, such as red for the target lane and yellow for the lane, so as to distinguish different lanes by marking different display colors, thereby improving the display effect of the vehicle changing from the 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 lane, wherein any point of the vehicle is taken as a 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, and 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 are obtained by the high-precision map or sensor data in the embodiment of the present application, so as to facilitate subsequent unified processing of lane width, vehicle, crossing line sign and other data;

[0030] (4) The embodiment of the present application can detect the change trend of the first distance and the second distance, when the change trend of the first distance approaches the preset value, it is the lane changing crossing line opportunity when the vehicle changes to the right, and when the change trend of the second distance approaches the preset value, it is the lane changing crossing line opportunity when the vehicle changes to the left, which avoids the inaccuracy of the crossing line opportunity caused by irregular road;

[0031] (5) The embodiment of the present application can obtain the lane width by summing the first distance and the second distance, so as to ensure that the vehicle changes lanes within the specified safe range and reduce accidents caused by insufficient lane width;

[0032] (6) The embodiment of the present application can determine whether the vehicle has crossed the line according to the lane changing and crossing line timing, 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 the side corresponding to the lane changing and crossing line timing, 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, the lane width, the vehicle, the crossing line sign and other data need to be accurately calculated, so as to ensure the accuracy of the lateral movement distance and improve the safety of vehicle driving;

[0033] (7) The embodiment of the present application can perform anti-shake filtering processing on the lateral movement distance, because the distance of lateral movement of the vehicle should be smaller and smaller in the process of lane changing, and changes linearly, but there is an error in actual driving, the anti-shake filtering processing can make the lane changing process more smooth, reduce the additional interference of the collected data, and improve the analysis accuracy;

[0034] (8) The embodiment of the present application can take the lateral movement distance of the last period as the lateral movement distance of the last period when the lateral movement distance of the current period is greater than the lateral movement distance of the last period, and when the lateral movement distance of the current period is less than the lateral movement distance of the last period and the distance difference between the two periods is less than a preset value, anti-shake processing is performed, which can prevent the vehicle from suddenly appearing a distance instead of smooth movement in the process of lateral movement, and the reduced distance difference is set as a target value, and the lateral movement distance is calculated together with the lateral movement distance of the last period, so that the vehicle moves more smoothly.

[0035] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The flowchart of the lane changing process display method provided by the embodiment of the present application;

[0037] Figure 2 The schematic diagram of the lane changing intention provided by one embodiment of the present application;

[0038] Figure 3 The schematic diagram of the lateral movement distance of the vehicle provided by one embodiment of the present application;

[0039] Figure 4 The flowchart of the lane changing process display method provided by one embodiment of the present application;

[0040] Figure 5 The block diagram of the lane changing process display device provided by the embodiment of the present application;

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

[0042] Other advantages and effects of the present application can be easily understood by those skilled in the art from the above description. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details of the present application based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, but not for limiting the protection scope of the present application.

[0043] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the diagrams, but not drawn according to the number, shape and size of the components in actual implementation. The shape, number and ratio of each component in actual implementation can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0044] With the popularity of new energy vehicles, automobile manufacturers are competing to develop automatic driving systems. In addition to the safety and comfort of driving, a friendly human-machine interaction system is also very important. Lane changing is an essential and frequent action during driving, such as overtaking, avoiding merging, avoiding obstacles, and many other scenarios. If the entire lane changing process can be displayed intuitively from start to finish, it will give the entire automatic driving system a lot of points.

[0045] Accurate data is needed to accurately display the lane changing process, 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 line. For a relatively standard main road, the data may not need too much processing, but for the intersection of the main road and the ramp or other irregular roads, data processing is very important. Therefore, a general method for data acquisition and processing is the most important for display.

[0046] The data sources used by the automatic driving system mainly include high-precision maps and sensors, but high-precision maps are not available for all road segments, and the data collected by sensors may also be inaccurate.

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

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

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

[0050] It can be understood that the lane changing intention can be an intention of the vehicle to change lanes from the current lane to another lane. The embodiments of the present application can determine the lane changing intention according to a scenario, an automatic driving plan, or an instruction of a user, for example, when the vehicle is about to exit a ramp from a main road or enter the main road from a ramp, it can be determined that the vehicle has a lane changing intention.

[0051] It should be noted that the target lane or the intention of the vehicle to exit the ramp from the main road or enter the main road from the ramp can be marked as another color, as shown in FIG. Figure 2 After identifying that the vehicle has a lane changing intention, the target lane can be marked as another color.

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

[0053] The target lane can be a lane in which 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 according to the lane changing intention, obtain the actual distance between the vehicle and the lane line of the current lane, for example, the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line, and thus calculate the lane width to ensure the safety of the vehicle when changing lanes.

[0055] In the embodiments of the present application, the target lane and the current lane are set to different display colors.

[0056] The display color of the target lane can be red, and the display color of the current lane can be yellow. The specific color can be set specifically. As an example, as shown in FIG. Figure 2 The embodiments of the present application can set the target lane to black and the current lane to white to distinguish different lanes.

[0057] It can be understood that the embodiments of the present application can set different display colors for the target lane and the current lane, distinguish different lanes by marking different display colors, and thus improve the display effect during the process of changing lanes from the current lane to the target lane.

[0058] In the embodiments of the present application, the actual distance between the vehicle and the lane line of the current lane is obtained, including: 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 current lane, and a second distance between the target point and the right lane line of the current lane.

[0059] Wherein, any point of the vehicle can be a steering wheel or a throttle, etc., the first distance can be a distance between the vehicle and the left lane line, and the second distance can be a 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 current lane, wherein, taking any point of the vehicle as a target point, the first distance between the vehicle and the left lane line of the current lane and the second distance between the vehicle and the right lane line of the current lane can be obtained, and the embodiment of the present application obtains the first distance between the vehicle and the left lane line of the current lane and the second distance between the vehicle and the right lane line of the current lane through the high-precision map or the sensor data, thereby facilitating the subsequent unified processing of the lane width, the vehicle, the cross-line sign and the like.

[0061] In the embodiment of the present application, the lane width of the lane line is calculated according to the actual distance, including: summing the first distance and the second distance to obtain the lane width.

[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 drives in a specified safe range for lane changing 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 calculation method is as follows: W=D L +D R .

[0064] In step S103, the cross-line timing when the vehicle changes lanes from the current 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 changing cross-line timing, one or more of the target lane, the current lane, the lane width and the lateral movement distance are displayed in real time, and the cross-line sign corresponding to the lane changing cross-line timing is displayed when the vehicle changes lanes.

[0065] Wherein, the lateral movement distance can be 3.7 meters, without specific limitation.

[0066] It can be understood that the embodiment of the present application can determine the cross-line timing according to the distance between the vehicle and the lane line, and calculate the lateral movement distance, display the calculation data in real time, and display the corresponding cross-line sign when the vehicle changes lanes, since the road can be a regular or irregular road, the cross-line sign needs to be set to unify the road algorithm, thereby displaying the entire process of the vehicle changing lanes and improving the automatic driving experience.

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

[0068] In the embodiment of the present application, the cross-line timing when the vehicle changes lanes from the current lane to the target lane is determined according to the change of the actual distance, including: detecting the change trend of the first distance and the second distance respectively; if the change trend of the first distance approaches a preset value, it is determined that the vehicle is in the lane-changing cross-line timing when changing lanes to the right; if the change trend of the second distance approaches a preset value, the vehicle is in the lane-changing cross-line timing when changing lanes to the left.

[0069] Wherein, the change trend of the first distance can be the trend that the distance between the vehicle and the left lane line gradually decreases, the change trend of the second distance can be the trend that the distance between the vehicle and the right lane line gradually decreases, and the preset value can be 0 or the like, which is not limited.

[0070] It can be understood that the embodiment of the present application can detect the change trend of the first distance and the second distance, and when the change trend of the first distance approaches a preset value, it is the lane-changing cross-line timing when the vehicle changes lanes to the right, and when the change trend of the second distance approaches a preset value, it is the lane-changing cross-line timing when the vehicle changes lanes to the left, thereby avoiding the inaccuracy of the cross-line timing caused by irregular road.

[0071] It should be noted that in the embodiment of the present application, when the vehicle changes lanes to the left, if D R approaches 0, it indicates that the vehicle crosses the line to the left, and when the vehicle changes lanes to the right, if D L approaches 0, it indicates that the vehicle crosses the line to the right.

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

[0073] It can be understood that the embodiment of the present application can determine whether the vehicle has crossed the line according to the lane-changing cross-line timing, when the vehicle has not crossed the line, the lateral movement distance is calculated by the lane width, the actual distance between the vehicle and the lane line corresponding to one side of the lane-changing cross-line timing, 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, the lane width, the vehicle, the cross-line sign and other data need to be accurately calculated, so as to ensure the accuracy of the lateral movement distance and improve the safety of vehicle driving.

[0074] For example, the embodiment of the present application is described by taking calculating the lateral movement distance of the vehicle as an example, as shown in the following table:Figure 3 As shown, assuming the distance of lateral movement of the vehicle is D lat Where the calculation method before and after crossing the line is different, which is described as follows:

[0075] a) The 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 can be half of the standard lane width, and it should be noted that the standard lane width can be the width of the target lane, and 3.7 can be the maximum distance of lateral movement of the vehicle;

[0077] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D R , where D L may be the distance between the vehicle driving on the target lane and the left side of the target lane, D R may be the distance between the vehicle driving on the target lane and the right side of the target lane, and (D L +D R ) / 2 is half of the width of the target lane, and since the driving vehicle is used to driving in the middle position of the target lane, the calculation of the lateral movement distance after crossing the line considers the middle position of the target lane.

[0078] b) The 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 can be half of the standard lane width, and it should be noted that the standard lane width can be the width of the target lane, and 3.7 can be the maximum distance of lateral movement of the vehicle;

[0080] After crossing the line (OverL=1): D lat =(D L +D R ) / 2-D L , where D L may be the distance between the vehicle driving on the target lane and the left side of the target lane, D R may be the distance between the vehicle driving on the target lane and the right side of the target lane, and (D L +D R ) / 2 is half of the width of the target lane, and since the driving vehicle is used to driving in the middle position of the target lane, the calculation of the lateral movement distance after crossing the line considers the middle position of the target lane.

[0081] In the embodiment of the present application, before displaying one or more of the target lane, the current lane, the lane width and the lateral movement distance in real time, the lateral movement distance is further subjected to anti-shake filtering processing.

[0082] It can be understood that the embodiment of the present application can perform anti-shake filtering processing on the lateral movement distance. Because the distance of lateral movement should be smaller and smaller in a linear change during lane changing of the vehicle, but there is an error in actual driving, the lane changing process can be displayed more smoothly through anti-shake filtering processing, additional interference of the collected data is reduced, and the analysis accuracy is improved.

[0083] In the embodiment of the present application, the anti-shake filtering processing on the lateral movement distance includes: obtaining the lateral movement distance of the current period; if the lateral movement distance of the current period is greater than the lateral movement distance of the previous period, the lateral movement distance of the previous period is taken as the lateral movement distance of the current period; if the lateral movement distance of the current period is less than the lateral movement distance of the previous period, and the distance difference between the two periods is less than a preset value, the distance difference is reduced to a target value, and the lateral movement distance of the current period is calculated according to the lateral movement distance of the previous period and the target value.

[0084] The preset value can be specifically marked as equal to or less than, for example.

[0085] It can be understood that in the embodiment of the present application, when the lateral movement distance of the current period is greater than the lateral movement distance of the previous period, the lateral movement distance of the previous period is taken as the lateral movement distance of the previous period, and when the lateral movement distance of the current period is less than the lateral movement distance of the previous period, and the distance difference between the two periods is less than a preset value, anti-shake processing is performed, which can prevent the vehicle from suddenly appearing a distance and not moving smoothly during lateral movement. The distance difference is reduced to a target value, and the lateral movement distance is calculated together with the lateral movement distance of the previous period, so that the vehicle moves more smoothly.

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

[0087] a) When the lateral movement distance D lat of a certain period is smaller than the value Old_D lat of the previous period, and becomes a larger value, the filtering processing is performed, the D lat of the period is directly taken as the value of the previous period, and the larger value of the current period is discarded, so as 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 , D lat = Old_D lat.

[0088] b) when the lateral movement distance D lat of the previous period Old_D lat is compared with the current period D lat , and if the difference is less than a certain value, the anti-shake processing is performed, which 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 - D lat / 10, wherein the number 10 in the formula can be calibrated, and 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 provided in the embodiments of the present application, the target lane is determined through lane changing awareness, 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 line opportunity is judged according to the distance between the vehicle and the lane line, and the lateral movement distance is calculated, the calculation data is displayed in real time, and the corresponding crossing line sign is displayed when the vehicle crosses the line during lane changing, so as to display the entire lane changing process of the vehicle and improve the automatic driving experience. Thus, the problems in the prior art that the entire lane changing process cannot be intuitively displayed, the data acquisition is not flexible during the display process, and the data processing is not accurate are solved.

[0090] The lane changing process display method will be described below based on vehicle high-precision map data and vehicle sensor collected data, as shown in FIG. 1, and the specific implementation steps are as follows: Figure 4

[0091] 1. Based on high-precision map or sensor data (high-precision map data is used when the high-precision map exists, and sensor data is used when the high-precision map does not exist), the distance between the vehicle and the left lane line and the distance between the vehicle and the right lane line are obtained, and the lane width is calculated. Assuming 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 calculation method is as follows: W=D L +D R .

[0092] 2. The crossing line opportunity is judged according to the distance between the vehicle and the lane line. Whether it is a regular road or an irregular road, there will be a moment when D L or D R tends to 0 when changing lanes and crossing the line. In order to unify the algorithms of regular roads and irregular roads, it is specified that when changing lanes to the left, if D R tends to 0, it indicates crossing the line, and when changing lanes to the right, if D​L A value close to 0 indicates a line crossing. A line crossing flag is set after the line crossing. Assuming the line crossing flag is OverL, OverL = 0 before the line crossing and OverL = 1 after the line crossing.

[0093] 3. Calculate the distance the vehicle moves laterally, such as Figure 3 As shown, assuming 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 the vehicle can move laterally. The details are as follows:

[0094] a) Calculation method for 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 for 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 changes lanes, the distance it moves laterally decreases linearly, but in reality, there are errors. To make the lane change process smoother, simple anti-shake filtering is required.

[0101] a) When the lateral movement distance D calculated in a certain period 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 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 period lat The value of the previous cycle Old_D lat When the value of the value decreases by more 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, 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. Finally, the processed data is sent to the display unit for display, thereby showing the entire process of the vehicle changing lanes 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: an identification module 100 , an acquisition module 200 and a calculation module 300 .

[0110] The identification module 100 is configured to identify a lane-changing intention of the vehicle; the acquisition module 200 is configured to determine a target lane according to the lane-changing intention, acquire an actual distance between the vehicle and a lane line of the current lane, and calculate a lane width of the lane line according to the actual distance; the calculation module 300 is configured to determine a lane-crossing time when the vehicle changes lanes from the current lane to the target lane according to a change of the actual distance, and calculate a lateral movement distance of the vehicle based on the actual distance and the lane-crossing time, and display one or more of the target lane, the current lane, the lane width and the lateral movement distance in real time, and display a lane-crossing mark corresponding to the lane-crossing time when the vehicle changes lanes and crosses the lane.

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

[0112] In the embodiment of the present application, the acquisition module 200 is further configured to acquire the lateral movement distance of the current period.

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

[0114] In the embodiment of the present application, the calculation module 300 is further configured to determine whether the vehicle has crossed the lane according to the lane-crossing time, calculate the lateral movement distance according to the lane width and an actual distance between the vehicle and a lane line corresponding to the lane-crossing time on one side if the vehicle has not crossed the lane, and calculate the lateral movement distance according to distances between the vehicle and lane lines on two sides if the vehicle has crossed the lane.

[0115] In the embodiment of the present application, the calculation module 300 is further configured to, if the lateral movement distance of the current period is less than the lateral movement distance of the last period and a distance difference between the two periods is less than a preset value, reduce the distance difference to a target value, and calculate the lateral movement distance of the current period according to the lateral movement distance of the last period and the target value.

[0116] It should be noted that the foregoing explanation and description of the lane-changing process display method embodiment are also applicable to the lane-changing process display device of this embodiment, which will not be described here again.

[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, thereby calculating the lane width; the timing of crossing the line 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 line sign is displayed, thereby displaying the entire process of the vehicle 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 change process display method provided in the above embodiment is implemented.

[0121] Furthermore, the vehicle further comprises:

[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 run 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 via 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. 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 one type of bus.

[0126] Optionally, 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 complete the communication among each other through an internal interface.

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

[0128] The embodiments of the present application further provide a computer readable storage medium, which has stored a computer program, and the program is executed by a processor to implement the lane changing process display method.

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

[0130] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0131] Any process or method descriptions in flow charts or described elsewhere herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for performing steps associated with the functions described in the flow charts or any relevant portions of the procedures. The various embodiments of the present application can include additional or fewer steps or processes, and the order of the steps or processes can be changed, including reordering of the steps or processes, depending on the implementation. The various embodiments of the present application can include additional or fewer steps or processes, and the order of the steps or processes can be changed, including reordering of the steps or processes, depending on the implementation.

[0132] It should be understood that portions of the application can be implemented in hardware, software, firmware, or combinations thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, if implemented in hardware, and in another embodiment, any of the following technologies, known in the art, or their combinations, can be used to implement: discrete logic circuitry having logic gates for implementing logic functions on data signals, application specific integrated circuits having appropriate combinational logic gates, programmable gate arrays, field programmable gate arrays, etc.

[0133] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0134] Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned 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; determining a target lane according to the lane change intention, obtaining an actual distance between the vehicle and a lane line of the target lane, and calculating a lane width of the lane line according to the actual distance; The lane-crossing timing when the vehicle changes lanes from the current lane to the target lane is determined based on the change in the actual distance, and the lateral movement distance of the vehicle is calculated based on the actual distance and the lane-crossing timing. 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-crossing sign corresponding to the lane-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 own 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: 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, based on the change in the actual distance, a lane-crossing timing when the vehicle changes lanes from the current lane to the target lane includes: respectively detecting change trends of the first distance and the second distance; If the change 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 lane-changing crossing opportunity 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 and crossing timing includes: determining whether the vehicle has crossed the lane according to the lane-changing and lane-crossing timing; If the vehicle does not cross 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 opportunity; If the vehicle has crossed the lane, the lateral movement distance is calculated based on 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 host 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 on the lateral movement distance includes: Get the horizontal movement distance of the current cycle; If the horizontal movement distance of the current cycle is greater than the horizontal movement distance of the previous cycle, the horizontal movement distance of the previous cycle is used as the horizontal 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, obtain an actual distance between the vehicle and a lane line of the target 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 current lane to the target lane based on a change in the actual distance, 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 current lane, the lane width, and the lateral movement distance in real time, and displaying a lane-crossing sign corresponding to the lane-crossing timing when the vehicle changes lanes.

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 according to 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 according to any one of claims 1 to 7.

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