Vehicle lane change intelligent reminding method and system, terminal and readable medium

Abstract

The invention is suitable for the technical field of intelligent auxiliary driving, and provides an intelligent reminding method and system for vehicle lane change, a terminal and a readable medium, and the method comprises the steps: obtaining lane change reference information; calculating a first signal and / or a second signal according to the lane changing reference information; receiving a lane changing signal, wherein the lane changing signal comprises a lane changing direction; and generating a prompt signal corresponding to the first signal or the second signal in the lane changing direction according to the lane changing signal. According to the method, the lane changing reference information is obtained, whether the vehicle meets the lane changing condition or not under the current condition is actively judged, and the calculation result of judging the lane changing condition actively interacts with the driver through the first signal or the second signal, so that the driving experience of the driver can be improved; and the lane changing safety of the driver by using the intelligent driving assistance system is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile driving assistance technology, and in particular, relates to a vehicle lane change intelligent reminder method, system, terminal and readable medium. Background Art

[0002] Acceleration, braking, lane change and overtaking are all routine operations performed by drivers while driving. Especially in urban expressways and highways, people often change lanes to overtake to save time and improve travel efficiency. In these driving scenarios, the driver observes the surrounding conditions of the vehicle and turns the turn signal to indicate to the surrounding vehicles that the vehicle is about to change lanes. After issuing the turn signal, the driver continues to observe the conditions in the adjacent lanes until the lane change is completed. In this way, during the entire lane change process, the driver needs to constantly observe the surrounding road conditions, so this lane change process often takes a long time, resulting in the driver often encountering lane change interruptions, lane change timeouts and other situations where they cannot change lanes during the lane change process, affecting the driving experience and safety. Summary of the invention

[0003] The embodiments of the present application provide a method, system, terminal and readable medium for intelligently reminding the driver to change lanes, which can solve the problem that the existing intelligent assisted driving system is difficult to actively provide lane change reminders to the driver.

[0004] In a first aspect, an embodiment of the present application provides a vehicle lane change intelligent reminder method, comprising:

[0005] Acquire lane-changing reference information of the vehicle, where the lane-changing reference information of the vehicle includes vehicle information and vehicle sensor information;

[0006] Calculating a first signal and / or a second signal according to lane change reference information of the vehicle, the first signal is used to provide the driver with information that lane change is allowed at a specified time or time period, and the second signal is used to provide the driver with information that lane change is not allowed at a specified time or time period;

[0007] receiving a lane change signal, the lane change signal including a lane change direction;

[0008] According to the lane-changing signal, a prompt signal corresponding to the first signal or the second signal in the lane-changing direction is generated.

[0009] The above method actively determines whether the vehicle meets the lane changing conditions under the current circumstances by obtaining lane changing reference information, and feeds back the calculation result of the lane changing conditions to the driver in real time through the first signal or the second signal, so that the driver can directly change lanes when allowed, shortening the time for the driver to complete the lane change, improving the driver's driving experience, and improving the safety of the driver using the intelligent driving assistance system to change lanes.

[0010] In a possible implementation manner of the first aspect, the lane change reference information further includes lane line type information of the lane in which the vehicle is located and adjacent lane validity information. Before outputting the first signal and / or the second signal according to the lane change reference information, the method further includes:

[0011] If it is determined that a side lane of the lane where the vehicle is located is invalid, or the lane line type between the side lane and the lane where the vehicle is located is a lane change prohibited line type, a second signal in the direction of the side lane is output.

[0012] Based on the above method, by pre-judging the lane line type information of the vehicle and the validity information of the adjacent lanes, when the vehicle is traveling in a lane where lanes can be changed, the first signal or the second signal is output according to the lane change reference information, thereby reducing the amount of data calculation and enabling the driver to obtain the first signal or the second signal more quickly.

[0013] In a possible implementation manner of the first aspect, outputting the first signal or the second signal according to the lane change reference information includes:

[0014] Calculate the dangerous collision risk level of the vehicle based on the lane-changing reference information. The dangerous collision risk level is positively correlated with the probability of collision between the vehicle and surrounding vehicles when the vehicle changes lanes at a specified time or time period.

[0015] If it is confirmed that the dangerous collision risk level of the vehicle is less than a preset value, a first signal is output;

[0016] If it is confirmed that the dangerous collision risk level of the vehicle is greater than or equal to a preset value, a second signal is output.

[0017] Based on the above method, by calculating the dangerous collision risk level between the vehicle and the surrounding targets, the qualitative problem of judging whether the conditions for lane changing are met is converted into a quantitative calculation of the dangerous collision risk level, and a qualitative conclusion is given to the dangerous collision risk level through a preset threshold, thereby improving the safety of lane changing.

[0018] In a possible implementation manner of the first aspect, calculating the dangerous collision risk level of the vehicle according to the lane change reference information includes:

[0019] The dangerous collision risk level of the vehicle is calculated based on the vehicle speed information, speed information and distance information of targets around the vehicle.

[0020] In a possible implementation manner of the first aspect, after calculating the dangerous collision risk level of the vehicle according to the vehicle speed information and the speed information and distance information of the targets around the vehicle, the method further includes:

[0021] Calculate the acceleration information of the vehicle and objects around the vehicle;

[0022] The dangerous collision risk level of the vehicle is corrected based on the acceleration information of the vehicle and objects around the vehicle.

[0023] Based on the above method, the dangerous collision risk level of the vehicle is calculated by using the vehicle's speed information, acceleration information, speed information, acceleration information and distance information of targets around the vehicle, which can accurately calculate the probability of possible collision between the vehicle and surrounding targets, thereby improving the accuracy of the judgment result of whether the lane changing conditions of this method are met.

[0024] Exemplarily, before obtaining the lane change reference information of the vehicle, the method further includes the following steps:

[0025] Determining that the vehicle satisfies the lane change rejection condition, outputting a second signal;

[0026] The lane change rejection conditions include that the positioning position of the vehicle is not within the preset operation design domain, and / or the driver of the vehicle is in a preset abnormal driving state.

[0027] Based on the above method, by predetermining that the vehicle meets the lane change rejection conditions, it is possible to directly determine that the vehicle is in a situation that is not suitable for lane change, thereby avoiding the use of the above vehicle lane change intelligent reminder method in inappropriate situations, thereby saving system computing power.

[0028] Based on the above technical solution, the present application actively obtains lane changing reference information before obtaining the driver's lane changing intention, so as to determine whether the vehicle meets the lane changing conditions under the current circumstances, and actively reminds the driver of the calculation result of the lane changing conditions through a first signal or a second signal, thereby improving the driver's driving experience and the safety of the driver using the intelligent driving assistance system to change lanes.

[0029] In a second aspect, an embodiment of the present application provides a vehicle lane change intelligent reminder system, including:

[0030] A lane-changing reference information acquisition module is used to acquire lane-changing reference information, where the lane-changing reference information includes own vehicle information and own vehicle sensor information;

[0031] a signal output module, configured to calculate a first signal and / or a second signal according to the lane-changing reference information, wherein the first signal is used to provide the driver with information that a lane-changing condition is met at a specified time or time period, and the second signal is used to provide the driver with information that a lane-changing condition is not met at a specified time or time period;

[0032] A lane changing module receives a lane changing signal, wherein the lane changing signal includes a lane changing direction;

[0033] The lane change indication module is used to generate a prompt signal corresponding to the first signal or the second signal in the lane change direction according to the lane change signal.

[0034] In a third aspect, an embodiment of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a vehicle lane change intelligent reminder method as described in any one of the first aspects above is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements a vehicle lane change intelligent reminder method as described in any one of the first aspects above.

[0036] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes a vehicle lane change intelligent reminder method according to any one of the first aspects above.

[0037] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 It is a flowchart of a vehicle lane-changing intelligent reminder method provided by an embodiment of the present application;

[0040] Figure 2 is a schematic diagram of a vehicle lane changing scenario provided by an embodiment of the present application;

[0041] Figure 3 It is a flowchart of a lane determination step in a vehicle lane change intelligent reminder method provided by an embodiment of the present application;

[0042] Figure 4 is a flow chart of a vehicle lane changing intelligent reminder method provided by another embodiment of the present application;

[0043] Figure 5 This is a functional schematic diagram of hardware modules involved in a vehicle lane change intelligent reminder method provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of the structure of a vehicle lane change intelligent reminder system provided in an embodiment of the present application;

[0045] Figure 7It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0047] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0048] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0049] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0050] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0051] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0052] When changing lanes, the driver usually observes the surrounding conditions and turns on the turn signal to indicate to the surrounding vehicles that the vehicle is about to change lanes. After sending the turn signal, the driver continues to observe the conditions in the adjacent lanes until the lane change is completed. The driver needs to constantly observe the surrounding road conditions. For drivers with less driving experience, this lane change process often takes a long time. Therefore, the risks in the lane change process will be greatly increased.

[0053] With the development of technology, after the emergence of vehicle intelligent assisted driving systems, a more direct solution is: after the driver turns the turn signal lever and the vehicle starts flashing the turn signal, the intelligent driving assistance system will then identify the lane information and target information around the vehicle to assist the driver in completing the lane change.

[0054] Through this solution, when the driver provides a clear intention to change lanes (for example, by turning the turn signal lever), after a brief calculation, the driver can receive feedback from the intelligent assisted driving system on whether the conditions for changing lanes are met, thereby making the final lane changing decision.

[0055] The improvement from the solution in which the driver observes whether the conditions for changing lanes are met to the solution in which the intelligent assisted driving system determines whether the conditions for changing lanes are met can effectively solve the problem of the driver taking a long time to observe during the lane changing process. To some extent, a solution has been found for the sub-problem of intelligent assisted lane changing.

[0056] However, it is not easy to notice that for certain emergency scenarios (such as when the vehicle ahead has an accident and emergency avoidance is required), although this process can well assist in changing lanes, the process is relatively cumbersome, namely:

[0057] 1. The driver discovers the problem (intention to change lanes);

[0058] 2. The driver turns the turn signal lever (sending a lane change intention signal to the intelligent driving assistance system);

[0059] 3. Intelligent driving assistance system performs calculations based on sensor data;

[0060] 4. The intelligent driving assistance system outputs a feedback signal indicating whether the lane change conditions are met;

[0061] 5.1. If the lane-changing conditions are met, the driver will change lanes after receiving the feedback signal;

[0062] 5.2. If the lane changing conditions are not met, the driver will perform other operations after receiving the feedback signal.

[0063] It can be seen that the time required for these processes will not cause trouble during normal driving, but in emergency scenarios, it may compress precious reaction time and there are some disadvantages.

[0064] Although the above solution can help the driver quickly complete lane changing during normal driving, the driver first needs to generate the intention to change lanes through his own observation. For drivers who are inexperienced or in emergency scenarios, they may not be able to interact with the intelligent assisted driving system in time to change lanes. Therefore, during the lane changing process, the driver may miss possible lane changing opportunities, which will greatly reduce the driver's lane changing success rate and affect the driver's driving experience and driving safety.

[0065] Based on the above problems, Figure 1 A schematic flowchart of a vehicle lane change intelligent reminder method provided in the present application is shown. As an example but not a limitation, the method can be applied to an intelligent driving assistance system to solve the problem that traditional intelligent driving assistance systems cannot actively remind the driver during lane change.

[0066] S102. Obtain lane-changing reference information, where the lane-changing reference information includes own vehicle information and own vehicle sensor information.

[0067] S104. Calculate a first signal and / or a second signal based on the lane changing reference information, wherein the first signal includes providing the driver with information that lane changing conditions are met at a specified time or time period, and the second signal is used to provide the driver with information that lane changing conditions are not met at a specified time or time period.

[0068] S106. Receive a lane change signal, where the lane change signal includes a lane change direction;

[0069] S108. Generate a prompt signal corresponding to the first signal or the second signal in the lane changing direction according to the lane changing signal.

[0070] First, various combinations of the first signal and / or the second signal mentioned in this embodiment are explained. For a single specific lane (for example, a lane adjacent to the left of the current lane, a lane adjacent to the right of the current lane, a lane with a specified number of lanes to the left / right of the current lane, etc.), the results of the first signal and the second signal may be mutually exclusive, that is, the calculation result of the single specific lane is either the first signal or the second signal. However, for a specific vehicle (i.e., the vehicle itself), the lane to be calculated may be a single specific lane (for example, when the driver turns the turn signal pole to the left, only the adjacent lane to the left may be calculated), or an unspecified lane (for example, calculation is performed on the adjacent lane to the left and the adjacent lane to the right on a regular basis. For example, when the lane where the ramp exit is located in the route provided by the navigation information is the lane separated by two lanes on the right, calculation may be performed on the lane where the ramp exit is located. Of course, such calculation depends on a sufficient vehicle sensing range). Therefore, when calculation is performed for a single lane, the results of the first signal and the second signal can only be one of the two. When calculation is performed for multiple lanes, different lanes may have different calculation results, so that the first signal and the second signal can be obtained at the same time (for different lanes).

[0071] Therefore, in the embodiments and implementation descriptions of the present application, the result of the first signal or the second signal usually corresponds to a situation where a single lane is calculated, and the result of the first signal and / or the second signal usually corresponds to a situation where multiple lanes are calculated. It is worth noting that in each embodiment and implementation, the aforementioned two situations can be replaced and / or combined.

[0072] In a possible implementation, the vehicle information may include the vehicle speed information of the vehicle, and the vehicle sensor information may include the speed information of the vehicle surrounding targets obtained from the vehicle radar. Through the vehicle speed information of the vehicle and the speed information of the surrounding targets, it is calculated whether a collision may occur between the vehicle and each target around the vehicle. When the probability of the vehicle colliding with the vehicle surrounding targets is less than a preset value, a first signal is output. The first signal may be a visual prompt signal, which is used to prompt the driver that the vehicle has the conditions for changing lanes at the current moment or within a preset time period, so the driver can change lanes. When the probability of the vehicle colliding with a surrounding target of the vehicle is greater than or equal to a preset value, a second signal is output. The second signal is a visual prompt signal different from the first signal, which is used to prompt the driver that the vehicle does not have the conditions for changing lanes at the current moment or within a preset time period, so the driver cannot change lanes.

[0073] It should be noted that in the above embodiment, step S102 and step S104 may be performed in a normal manner, that is, in a possible implementation, during the driving of the vehicle, the first signal or the second signal may be calculated at any time, and the calculated first signal or the second signal may be displayed in real time, and displayed in a higher priority form on one side of the first signal, and displayed in a lower priority form on one side of the second signal. For example, the higher priority form may be displayed as a larger icon or a more prominent color, and the lower priority form may be displayed as a smaller icon or a lower brightness color. Alternatively, only one side of the calculated first signal may be displayed, that is, during the driving of the vehicle, the driver may be reminded of the first signal or the second signal in real time, and according to the prompts of the first signal and the second signal, the driver may know in real time whether the lane change conditions are met on both sides of the current lane.

[0074] Step S106 and step S108 are not performed on a regular basis. Instead, they are performed after step S104 is performed on a regular basis. If the driver makes a lane change action, such as moving the turn indicator lever or turning the steering wheel, and triggers the lane change signal, a corresponding prompt signal is generated based on the first signal or the second signal obtained in S104. Accordingly, the prompt signals corresponding to the first signal and the second signal in the lane change direction may be displayed in different priority levels, or only the prompt signal corresponding to the first signal may be displayed, while the prompt signal corresponding to the second signal may not be displayed.

[0075] In a possible implementation, only the prompt information corresponding to one of the first signal or the second signal in the lane change direction may be displayed (for example, when the driver turns the turn signal lever to the direction corresponding to the left turn, only the first signal or the second signal on the left side is displayed, and the first signal or the second signal on the right side is not displayed and / or calculated). Specifically, the priority of the prompt signal may be expressed by the following method:

[0076] When the signal in the lane changing direction is the first signal, a low-priority prompt signal is generated, and the low-priority prompt signal has a lower display priority (for example, it may be UI display information of a regular size, and / or UI display information in a non-warning color such as green); when the signal in the lane changing direction is the second signal, a high-priority prompt signal is generated, and the high-priority prompt signal has a higher display priority (for example, it may be UI display information of a larger size than the regular size, and / or UI display information in a warning color such as red), and a sound signal may be emitted at the same time to alert the driver.

[0077] Alternatively, when the signal in the lane-changing direction is the first signal, no prompt signal is generated, and when the signal in the lane-changing direction is the second signal, a prompt signal is generated and displayed.

[0078] In a possible implementation, after the driver has the intention to change lanes, he will actively interact with the vehicle and send a lane change signal. For example, the driver pushes the turn signal lever up or down, which means that the driver wants to control the vehicle to turn left or right, or the driver turns the steering wheel to the right or left. When the steering wheel is turned to a certain angle, that is, the steering angle of the steering wheel exceeds the normal angle for adjusting the straight driving direction, it can be regarded as the driver wants to control the vehicle to turn. At this time, the first signal or the second signal of the corresponding direction is displayed in the direction corresponding to the driver's intention to change lanes. In an optional implementation, the first signal or the second signal of the corresponding direction is displayed while the first signal or the second signal of the other direction is not displayed. By reminding the driver that he can change lanes or not in the corresponding direction at this time, the lane change prompt corresponding to the driver's intention to change lanes can be clearly reflected, so that the driver can clearly know whether the driver's intention to change lanes received by the current vehicle is accurate, so as to make timely adjustments to ensure driving safety.

[0079] In a possible implementation, specifically, after the driver makes a lane change signal in a specified direction, the vehicle will generate a prompt signal corresponding to the first signal or the second signal in the specified direction. For example, after the driver turns the steering wheel in a direction, if the lane corresponding to the direction is the first signal, the vehicle will prompt the driver to actively turn on the turn signal in the corresponding direction. In an optional implementation, if the lane change signal made by the driver is to turn the steering wheel without turning on / moving the turn signal lever, when it is determined that the lane change condition of the corresponding lane is the first signal, the vehicle can turn on the turn signal in the corresponding direction instead of the driver; after the driver turns the turn indicator lever, the vehicle turns on the turn indicator in the corresponding direction of the vehicle, and also switches or flashes the high beam and low beam lights in front continuously, so as to remind the vehicle in front to pay attention to the vehicle behind that is about to change lanes. In addition, the driver or surrounding vehicles can be prompted that the vehicle is about to change lanes by honking the vehicle horn, displaying the turn indicator in the corresponding direction on the vehicle UI interface, etc. Correspondingly, after acquiring the above-mentioned second signal, after the driver issues a lane change signal, the vehicle may not generate any prompt signal, may generate a prompt signal with a weaker intensity than the prompt signal corresponding to the above-mentioned first signal, or may execute the opposite prompt signal of the prompt signal corresponding to the above-mentioned first signal. That is, after the vehicle generates the prompt signal corresponding to the above-mentioned first signal, it can actively remind the surrounding vehicles that the vehicle will change lanes to the lane in the direction corresponding to the first signal, so that the surrounding vehicles can make certain preparations for the lane change action of the vehicle, further reducing the probability of accidents. After the vehicle generates the prompt signal corresponding to the above-mentioned second signal, it can remind the driver that it is not suitable to change lanes to the corresponding lane under the current circumstances, avoiding the situation where the driver directly changes lanes after having the intention to change lanes and causing an accident. Exemplarily, when the driver turns the steering indicator lever to the right, or turns the steering wheel to the right, the vehicle determines that the right side is the first signal after calculation, and the vehicle will generate a prompt signal corresponding to the first signal in the right direction, that is, prompting the driver to change lanes to the right; and after the vehicle determines that the right side is the second signal after calculation, the vehicle will generate a prompt signal corresponding to the second signal in the right direction, that is, prompting the driver not to change lanes to the right.

[0080] It should be noted that the lane changing action executed after the vehicle driver sends a lane changing signal may be opposite to the first signal or the second signal mentioned above. For example, the vehicle driver sends a signal to change lanes to the right. At this time, the signal to change lanes to the right corresponds to the second signal. After that, the driver immediately makes an action to change lanes to the right. However, at this time, changing lanes to the right does not meet the lane changing conditions. Therefore, the driver can be actively reminded through methods such as voice reminders not to continue the current lane changing action. Correspondingly, the vehicle driver sends a signal to change lanes to the right. At this time, the signal to change lanes to the right corresponds to the first signal. After that, the driver is reluctant to make an action to change lanes to the right. At this time, changing lanes to the right meets the lane changing conditions. Therefore, the driver can be actively reminded through methods such as voice reminders that he can currently perform the lane changing action.

[0081] That is, in response to a lane change signal in a specified direction, generating a prompt signal corresponding to the first signal or the second signal in the specified direction includes:

[0082] generating a first prompt signal corresponding to the first signal of the specified direction, wherein the first prompt signal is used to prompt the driver to perform a lane change action;

[0083] Alternatively, a second prompt signal corresponding to the second signal in the specified direction is generated, and the second prompt signal is used to remind the driver not to perform a lane change action in the specified direction.

[0084] For example, the first signal is obtained for the left lane of the vehicle, and the second signal is obtained for the right lane of the vehicle. At this time, when the driver turns the steering wheel to the left, a first prompt signal is generated, which emits a relatively gentle sound signal to remind the driver that it is safe to change lanes to the left. At this time, when the driver turns the steering wheel to the right, a second prompt signal is generated, and the second prompt signal is a relatively rapid and tense sound signal to warn the driver that it is dangerous to change lanes to the right.

[0085] For example, see Figure 2, the lane-changing vehicle is marked as EV-1, the vehicles on both sides in front of the lane-changing vehicle are marked as EV-2, and the vehicles on both sides behind the lane-changing vehicle are marked as EV-3. In this embodiment, a threshold range can be preset for the completion time of the lane-changing action. At this time, according to the distance between EV-1 and EV-2 in the lane direction and the speeds of EV-1 and EV-2, it is judged whether EV-1 may collide with EV-2 when completing the lane-changing operation. For example, since EV-2 is in front of EV-1 and EV-3 is behind EV-2, if the speed of EV-1 is lower than that of EV-2 and higher than that of EV-3, then at this time, the probability of a collision between EV-1 and EV-2 is low, and the probability of a collision between EV-1 and EV-3 is also low, and the first signal is output. If the speed of EV-1 is higher than that of EV-2, or lower than that of EV-3, a collision may occur at this time, and the second signal is output.

[0086] It should be noted that the above method needs to acquire lane change reference information at a preset data acquisition frequency throughout the lane change process, and actively output the first signal or the second signal to the driver. Exemplarily, the first signal or the second signal is actively output to the driver before the driver has a lane change intention, and the lane change intention includes the driver turning the vehicle steering lever;

[0087] Alternatively, when the vehicle can change lanes or when the vehicle is in the process of changing lanes, the first signal or the second signal is output according to the lane change reference information.

[0088] In a possible implementation, the lane change reference information further includes lane line type information of the lane where the vehicle is located and adjacent lane validity information. Before outputting the first signal or the second signal according to the lane change reference information, refer to Figure 3 , the embodiment of the present application further includes the following steps:

[0089] S103. If it is determined that a side lane of the lane where the vehicle is located is invalid, or the lane line type between the side lane and the lane where the vehicle is located is a lane change prohibited line type, then the second signal in the direction of the side lane is output.

[0090] Specifically, during the driving process of the vehicle, the following situation may be encountered: among the adjacent lanes of the lane where the vehicle is driving, only one lane is valid or both lanes are invalid, that is, the left lane or the right lane where the vehicle is located is a drivable lane, or the lane is driving on a one-way street. If the vehicle is driving on a one-way street, then the vehicle cannot change lanes at any time or time period, and when the left lane or the right lane of the lane is valid, the vehicle can only change lanes to the left or right lane. At the same time, when the lane line between the lane where the vehicle is driving and the adjacent lane is a dotted line, the vehicle can change lanes to the adjacent lane, and when the lane line between the lane where the vehicle is driving and the adjacent lane is a line type that prohibits lane changes, such as a single solid line lane, an inner solid line and an outer dotted line lane, a double white line lane, etc., these lane line types can be determined by the camera mounted on the vehicle.

[0091] Exemplarily, the validity of adjacent lanes of the lane where the vehicle is located is obtained through a camera mounted on the vehicle or through the Internet of Things interaction between the vehicle and roadside facilities, and whether the lanes on both sides of the lane where the vehicle is located are valid. When the left lane of the lane where the vehicle is located is valid, the camera mounted on the vehicle is used to confirm whether the lane line type between the lane where the vehicle is located and the left lane is a line type that allows lane changing. If the left lane is valid and the lane line type between the lane where the vehicle is located and the left lane is a line type that allows lane changing, then the first signal or the second signal for lane changing on the left is output based on other acquired lane changing reference information; and if at this time, the right lane is invalid or the lane line type between the lane where the vehicle is located and the right lane is a line type that does not allow lane changing, then the second signal on the right side of the vehicle can be directly output, thereby avoiding the need for the intelligent driving assistance system to judge the output of the first signal and the second signal based on the lane changing reference information on the right side, thereby reducing the complexity of vehicle data processing, and improving the speed of outputting the first signal and the second signal, thereby improving the efficiency of the intelligent driving assistance system in actively reminding the driver.

[0092] It should be noted that even if the validity of the adjacent lanes of the lane where the vehicle is located is obtained according to the camera carried by the vehicle or through the Internet of Things interaction between the vehicle and the roadside facilities, in this method, the first signal or the second signal can be actively output according to the current road conditions of the vehicle's driving lane while ignoring the validity of the adjacent lanes. For example, if a traffic accident occurs in front of the vehicle and both sides of the lane where the vehicle is located are solid lines, then according to the original processing flow, the first signal will not be output to prompt the vehicle to change lanes. However, if the lane is not changed, the vehicle will be congested at the location where the traffic accident occurred, causing more serious congestion, or it will cause an accident of colliding with the obstacle in front or the accident vehicle, causing a more severe chain accident. Therefore, in the embodiment provided in the present application, the first signal and the second signal can be actively output according to the lane change reference information.

[0093] That is, the above method further comprises the following steps:

[0094] It is determined that at least one adjacent lane of the lane where the vehicle is located is valid, and the lane line type between the valid adjacent lane and the lane where the vehicle is located is a lane change prohibited line type, and there is an obstacle in front of the vehicle, then the first signal or the second signal of the valid adjacent lane is calculated according to the lane change reference information.

[0095] As an optional implementation, the vehicle sensor information of the lane change reference information may also include the distance between the vehicle and the surrounding targets. Based on the speed information of the vehicle, the speed information of the surrounding targets and the distance information between the vehicle and the surrounding targets, the dangerous collision risk level between the vehicle and the surrounding targets can be calculated through a preset logical algorithm. The dangerous collision risk level is to judge the probability of collision with surrounding vehicles when the vehicle changes lanes at a specified time or time period. When the dangerous collision risk level is greater than or equal to a preset threshold, a second signal is output, and when the dangerous collision risk level is less than the preset threshold, a first signal is output. For example, the preset dangerous collision risk level threshold is 5%, that is, when the vehicle changes lanes at a specified time or time period, the collision probability with any surrounding target needs to be less than 5%, and the intelligent driving assistance system will send the first signal to the driver, otherwise the intelligent driving assistance system will send the second signal to the driver.

[0096] The dangerous collision risk level is obtained by multiplying the lateral dangerous collision risk level and the longitudinal dangerous collision risk level. The calculation formula is shown in Formula 1-1:

[0097] c=c y *c x (Formula 1-1)

[0098] in,

[0099] c: Dangerous collision risk level, c y : Lateral collision risk level, c x : Longitudinal dangerous collision risk level;

[0100] Lateral collision risk level c y It is determined by the lateral distance between the obstacle and the target centerline, and the lateral distance is used to determine whether there is a target in the adjacent lane. Here we define that when the adjacent lane is identified to have a target, c y =1, that is, the lateral collision rate is high; when it is recognized that there is no target in the adjacent lane, c y =0, that is, the lateral collision rate is low, and the lateral collision rate is related to the lateral collision risk level c y Positive correlation.

[0101] Longitudinal dangerous collision risk level c xIt is determined based on the longitudinal collision safety distance between the vehicle and the obstacle, with the obstacle deceleration of 3m / s 2 The minimum collision safety distance is calculated based on the acceleration, that is, the longitudinal collision rate is high, corresponding to c x =1; the obstacle deceleration is 0.5m / s 2 The maximum collision safety distance is calculated based on the acceleration, that is, the longitudinal collision rate is low, corresponding to c x =0, thus obtaining the longitudinal dangerous collision risk level c x The relationship curve between the longitudinal distance between the vehicle and the obstacle is then used to obtain the longitudinal collision risk level c at different distances by linear interpolation. x , longitudinal collision rate and longitudinal dangerous collision risk level c x Positive correlation.

[0102] The longitudinal collision safety distance between the vehicle and the obstacle is calculated as shown in Formula 1-2:

[0103] d=v1*t1+(v2-v1) 2 / 2*a+(v2-v1)*t2 (Formula 1-2)

[0104] in:

[0105] d: longitudinal collision safety distance, v1: own vehicle speed, unit m / s, t1: steady-state time, generally 1.0s, v2: obstacle speed, unit m / s, t2: reaction time, take 0.4s, a: obstacle deceleration, unit m / s 2 .

[0106] It should be noted that according to the calculation method of the dangerous collision risk level provided in this embodiment, the lateral dangerous collision risk level can also be determined first. When there is no target in the adjacent lane, the first signal can be directly output. When there is a car in the adjacent lane, the longitudinal dangerous collision risk level is calculated. If the longitudinal dangerous collision risk level is lower than the preset threshold, the first signal is output. If the longitudinal dangerous collision risk level is higher than the preset threshold, the second signal is output.

[0107] In addition, when determining the lateral dangerous collision risk level, the lateral dangerous collision risk level in different situations can be further set according to actual conditions. For example, there is no target in the adjacent lane of the vehicle, but there is a target in front of or behind the vehicle, or in the adjacent lane of the adjacent lane. At this time, the target also has a certain probability of changing lanes to the adjacent lane. At this time, we can set the vehicle's lateral dangerous collision risk level to 0.5, and then calculate the dangerous collision risk level of the above vehicle based on the vehicle's longitudinal dangerous collision risk level.

[0108] As an optional implementation, the lane changing reference information also includes vehicle posture information calculated based on the vehicle information and the vehicle sensor information, taking into account the relative position of the vehicle in its lane, that is, how close the vehicle is to the lane line during driving, which is also an important parameter for judging the risk level of dangerous collision when the vehicle changes lanes. When the vehicle is far away from the target lane that needs to change lanes, the vehicle needs to spend more time to complete the lane change, and thus the risk level of dangerous collision will increase. When the vehicle is close to the target lane that needs to change lanes, the vehicle can spend less time to complete the lane change, and accordingly, the risk level of dangerous collision will decrease.

[0109] As an optional implementation, the lane-changing reference information also includes the acceleration information of the vehicle and the acceleration information of the surrounding vehicles. The dangerous collision risk level of the vehicle is corrected according to the acceleration information of the vehicle and the acceleration information of the surrounding vehicles. Exemplarily, when the vehicle changes lanes to the target lane, if there is a vehicle in front of the target lane, the acceleration information of the vehicle is calculated according to the vehicle's own information, and the acceleration information of the surrounding vehicles is calculated according to the vehicle's sensor information. For example, if the acceleration of the vehicle in front is greater than the acceleration of the vehicle, it means that the probability of collision between the vehicle in front and the vehicle decreases over time, so the dangerous collision risk level needs to be lowered accordingly. If the acceleration of the vehicle in front is less than the acceleration of the vehicle in front, it means that the probability of collision between the vehicle in front and the vehicle increases over time, so the dangerous collision risk level needs to be increased accordingly.

[0110] As an optional implementation, before obtaining the lane change reference information of the vehicle, refer to Figure 4 , further comprising the following steps:

[0111] S101. Determine that the vehicle satisfies a lane change rejection condition, and then output a second signal.

[0112] The lane change rejection conditions include that the positioning position of the vehicle is not in the preset operational design domain, and / or the driver of the vehicle is in a preset abnormal driving state. It should be noted that the positioning position of the vehicle can be obtained through the vehicle positioning information in the vehicle navigation system of the vehicle. Since the use of the intelligent driving assistance system for intelligent lane change reminders on roads with more complex road conditions may sometimes affect the driver's normal driving, the above-mentioned intelligent lane change reminder method is used to remind the driver when the vehicle is in a road section with simpler road conditions and suitable for intelligent driving assistance systems. The effect is better. Therefore, the design operational domain ODD (Operational Design Domain) of the intelligent lane change reminder method can be set on roads with simpler road conditions and higher usage rates of intelligent driving assistance systems, such as urban expressways or highways. When the vehicle travels to the above-mentioned road section, the vehicle automatically activates the intelligent lane change reminder method according to the vehicle positioning information. In addition, some intelligent driving assistance systems have the function of monitoring whether the driver is in a normal driving state. For example, through the electric power steering system of the vehicle's steering wheel, it can be understood whether the driver has taken his hands off the vehicle's steering wheel. If the driver is in a state of taking his hands off the steering wheel, the intelligent driving assistance system determines that the driver is not ready to change lanes at this time. Therefore, the intelligent driving assistance system outputs a second signal to prompt the driver that the conditions for changing lanes are not met at this time and the lane change cannot be made.

[0113] As an optional implementation, while obtaining the vehicle's positioning position, the vehicle's navigation path during driving can also be obtained through the vehicle's navigation system, and based on the vehicle's current positioning position and the vehicle's navigation path, it can be reasonably inferred that the vehicle may need to change lanes at a time or period. For example, when the vehicle is driving on a highway, the vehicle is driving in the leftmost overtaking lane, and according to the navigation information, the vehicle may need to leave the current highway exit ramp after 2 km. At this time, a vehicle lane change intelligent reminder method provided by the present application can start to determine whether the lane on the right side of the vehicle meets the lane change requirements. When the lane on the right side of the vehicle meets the lane change requirements, a first signal is sent to remind the driver that he can change lanes to the right, so that the driver can change to the designated lane as soon as possible.

[0114] In one or more embodiments, for different situations, the third signal in different forms may be used to remind the driver to change lanes. For example, the second signal output at ordinary times is a visual signal that is always red. When the vehicle needs to change lanes to the right and exit the ramp according to the navigation information, if the vehicle cannot meet the conditions for changing lanes to the right at this time, the third signal output is a visual signal that flashes yellow to remind the driver that although the conditions for changing lanes to the right are not met at this time, it is necessary to change lanes to the right as soon as possible. The driver may decide to accelerate or decelerate the vehicle according to the current second signal and the surrounding road conditions. When the vehicle meets the conditions for changing lanes to the right, the first signal is output. When the driver receives the first signal, the vehicle can complete the right lane change action, that is:

[0115] The third signal includes lane change guidance information determined according to the navigation information and information on whether the lane corresponding to the lane change guidance information meets the lane change conditions.

[0116] In one or more embodiments, the driver's operation can be distinguished during the process of driving the vehicle. Specifically, in this embodiment, the driver's operation can be distinguished into conscious lane change and unconscious lane change. For example, if the driver controls the steering wheel to turn in the direction indicated by the reversing indicator lever after turning the reversing indicator lever, it can be considered that the driver is performing a conscious lane change operation. If the driver does not turn the reversing indicator lever, but controls the steering wheel to turn left or right, it can be considered that the driver is performing an unconscious lane change operation. Or, further, combined with the steering wheel rotation angle, the driver's line of sight, head angle, whether the eyes are open, etc., it can be judged whether the driver is performing an unconscious lane change operation. In the specific implementation process, how to judge whether the driver performs a conscious or unconscious lane change operation is not limited to the above method, and can also be judged by other methods, which will not be repeated here.

[0117] When it is determined that the driver is in an unconscious lane change operation, if the lane change direction corresponding to the unconscious lane change operation is a first signal, the vehicle will provide a reminder signal to the driver to remind the driver that a lane change is in progress and the driver needs to turn the steering indicator lever in the corresponding direction. If the lane change direction corresponding to the unconscious lane change operation is a second signal, the vehicle will prevent the steering wheel from further turning in the corresponding direction.

[0118] In this embodiment, by distinguishing between the driver's conscious and unconscious lane changing operations, the vehicle can provide targeted prompts for the driver's conscious lane changing operations, standardize the driver's lane changing operations, and ensure the safety of the driver's lane changing operations. At the same time, the driver can be corrected for the driver's unconscious lane changing operations to avoid the driver from unconsciously deviating from the lane and causing safety problems.

[0119] According to the above embodiment, the vehicle lane change intelligent reminder method provided by the present application, when the driver is actually driving, specifically works as follows:

[0120] Before starting to drive, the driver can first set the destination to go to. According to the destination set by the driver, the vehicle plans the driving path on the virtual map and marks the location where lane change is required according to the driving path;

[0121] When the driver is driving, the steering wheel will produce slight shaking during driving. Therefore, when the steering wheel rotation angle does not exceed the preset angle, it will not be considered that the vehicle has entered the lane changing state. Once the vehicle's steering wheel rotation angle exceeds the preset angle, it will automatically determine that the vehicle has entered the lane changing state, and at the same time judge whether the driver is in a conscious or unconscious lane changing state. If the driver is in an unconscious lane changing state, a sound reminder will be issued to remind the driver that he cannot change lanes at this time or must turn the turn indicator lever before changing lanes.

[0122] When the driver turns the vehicle's turn indicator lever, or the vehicle is about to drive to the marked position where a lane change is required, the vehicle automatically calculates the dangerous collision risk level in the corresponding direction based on the lane change reference information, and determines whether the vehicle meets the lane change rejection condition, and generates the first signal or the second signal in the corresponding direction based on the lane change rejection condition and the dangerous collision risk level. Then, the corresponding prompt information is generated based on the first signal or the second signal, indicating that the driver can change lanes in the corresponding direction or not.

[0123] In one or more embodiments, the above-mentioned vehicle lane change intelligent reminder method involves related hardware modules such as Figure 5As shown, it includes: a vehicle module, a sensor module and a map positioning module, wherein the vehicle module is used to collect information including vehicle speed, intelligent assisted driving system function switch state, driver driving state, etc., and realize logical judgment based on information such as vehicle speed, intelligent assisted driving system function switch state, driver driving state, etc.; the sensor module is used to collect lane line information and information about targets around the vehicle, and realize logical judgment based on information such as lane line line type, adjacent lane validity and vehicle posture, and calculate the risk level of dangerous collision between the vehicle and surrounding targets based on the distance, speed and acceleration of the targets around the vehicle; the map positioning module is used to collect the map information and positioning information of the vehicle, and judge whether the vehicle is in the preset operation design domain based on the map section and real-time positioning information. According to the above-mentioned vehicle module, sensor module and map positioning module, it is comprehensively judged whether the current driving environment can change lanes. If it is possible to change lanes, a first signal is output through the instrument panel to remind the driver to change lanes; if it is not possible to change lanes, a second signal is output through the instrument panel to remind the driver that it is not possible to change lanes.

[0124] based on Figure 5 The method involved in this embodiment mainly includes the following steps:

[0125] Step 1: Obtain information related to lane change condition judgment through the vehicle module, sensor module, and map positioning module.

[0126] The vehicle module can be used to obtain vehicle speed, function switch status, and driver's hands-off status. The vehicle speed information is obtained from ESP (Electronic Stability Program), the function switch status is obtained from the vehicle computer system, and the driver's hands-off status is obtained from EPS (Electric Power Steering Electric Power Steering System).

[0127] Through the sensor module, the camera obtains lane information, including lane line type, lane validity, and vehicle posture information (mainly centrality). The radar obtains target information, including the speed and distance information of the target in front of the lane output by the front radar, and the speed and distance information of the targets in front and behind the adjacent lanes on the left and right sides of the lane output by the four corner radars.

[0128] Through the map positioning module, map information is obtained from the vehicle system, including global road section information and local road section information. Positioning information is obtained from the satellite antenna system, including positioning accuracy and real-time location information.

[0129] Step 2: Perform data calculation and logical judgment based on the output information of different modules.

[0130] The vehicle module includes three conditions: vehicle speed, function switch status, and driver's hands-off status. The vehicle speed needs to be within the logical setting range, the function switch needs to be on, and the driver's hands-off status needs to be on.

[0131] The sensor module includes four conditions: lane line type, lane validity, vehicle posture, and dangerous collision risk level. The lane line type needs to be a dotted line, the target lane validity needs to be valid (comprehensively judged by lane line validity, lane width, and the distance between the center line of the current lane and the target lane), the vehicle posture needs to be centered, and the dangerous collision risk level needs to be within the logical setting range.

[0132] The map positioning module includes a condition of ODD driving area. ODD (Operational Design Domain) is the operational design domain. In this article, ODD driving area refers to the area where intelligent lane change assisted driving is allowed, including urban expressways and highways. Therefore, the ODD driving area needs to be within the logical setting range.

[0133] Step 3: Based on the following conditions, including vehicle speed, function switch status, driver's hands-off status, lane line type, lane validity, vehicle posture, dangerous collision risk level, and ODD driving area, comprehensively judge whether lane change is possible in the current driving environment. If and only if all conditions are met, it is judged that lane change is possible. If any condition is not met, it is judged that lane change is not possible.

[0134] Step 4: If the lane change conditions are met, the system will actively send out a lane change reminder visual signal and display it through the instrument according to the pre-set visual rendering effect. If the lane change conditions are not met, the system will not send out a lane change reminder signal and the instrument will not display it.

[0135] The present application provides a vehicle lane change intelligent reminder method, which sends a first signal or a second signal in real time according to the acquired lane change reference information, and actively provides feedback to the driver through the first signal or the second signal whether the lane change can be performed under the current circumstances, thereby improving the driving experience and safety; at the same time, it improves the lane change success rate and people's demand for lane change assisted driving, which is conducive to the promotion and popularization of intelligent assisted driving.

[0136] The vehicle lane changing intelligent reminder method provided in this application is applicable to various models of vehicles and has a wide range of applicability.

[0137] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0138] Corresponding to the vehicle lane changing intelligent reminder method described in the above embodiment, Figure 6 A structural block diagram of a vehicle lane change intelligent reminder system provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0139] Reference Figure 6 The system comprises:

[0140] A lane-changing reference information acquisition module is used to acquire lane-changing reference information, where the lane-changing reference information includes own vehicle information and own vehicle sensor information;

[0141] The signal output module is used to calculate a first signal and / or a second signal based on the lane changing reference information, wherein the first signal is used to provide the driver with information that the lane changing conditions are met at a specified time or time period, and the second signal is used to provide the driver with information that the lane changing conditions are not met at a specified time or time period.

[0142] A lane changing module receives a lane changing signal, wherein the lane changing signal includes a lane changing direction;

[0143] The lane change indication module is used to generate a prompt signal corresponding to the first signal or the second signal in the lane change direction according to the lane change signal.

[0144] In one or more embodiments, the vehicle lane change intelligent reminder system further includes:

[0145] The lane information judgment module is used to determine that a side lane of the lane where the vehicle is located is valid, and the lane line type between the side lane and the lane where the vehicle is located is a lane change allowed line type, and then output the first signal in the direction of the side lane; or, if it is determined that a side lane of the lane where the vehicle is located is invalid, or the lane line type between the side lane and the lane where the vehicle is located is a lane change prohibited line type, then output the second signal in the direction of the side lane.

[0146] In one or more embodiments, the signal output module of the above-mentioned vehicle lane change intelligent reminder system is also used for:

[0147] Calculating a dangerous collision risk level of the vehicle according to the lane change reference information, where the dangerous collision risk level is a probability of collision between the vehicle and surrounding vehicles when the vehicle changes lanes at a specified time or time period;

[0148] If it is confirmed that the dangerous collision risk level of the vehicle is less than a preset value, a first signal is output;

[0149] If it is confirmed that the dangerous collision risk level of the vehicle is greater than or equal to a preset value, a second signal is output.

[0150] In one or more embodiments, the signal output module includes:

[0151] The dangerous collision risk level calculation module is used to calculate the dangerous collision risk level of the vehicle based on the vehicle speed information, speed information and distance information of the targets around the vehicle.

[0152] In one or more embodiments, the dangerous collision risk level calculation module is further used to obtain the position information of the vehicle on the lane;

[0153] The dangerous collision risk level of the vehicle is corrected according to the position information of the vehicle on the lane.

[0154] In one or more embodiments, the dangerous collision risk level calculation module is further used to calculate acceleration information of the vehicle and objects around the vehicle;

[0155] The dangerous collision risk level of the vehicle is corrected according to the acceleration information of the vehicle and objects around the vehicle.

[0156] In one or more embodiments, the system further includes a lane change rejection module, configured to output a second signal if the vehicle satisfies a lane change rejection condition;

[0157] The lane change rejection conditions include that the positioning position of the vehicle is not within a preset operation design domain, and / or the driver of the vehicle is in a preset abnormal driving state.

[0158] It should be noted that the information interaction, execution process, etc. between the above-mentioned systems / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0159] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0160] See also Figure 7An embodiment of the present application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0161] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0162] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0163] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or system that can carry the computer program code to the camera system / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, USB flash drive, mobile hard disk, disk or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0164] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0165] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0166] In the embodiments provided in the present application, it should be understood that the disclosed system / network device and method can be implemented in other ways. For example, the system / network device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0168] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A vehicle lane-changing intelligent reminder method, characterized in that: include: Acquiring lane-changing reference information, wherein the lane-changing reference information includes own vehicle information and own vehicle sensor information; A first signal and / or a second signal are calculated based on the lane changing reference information, wherein the first signal includes providing the driver with information that a lane changing condition is met at a specified time or period, and the second signal is used to provide the driver with information that a lane changing condition is not met at a specified time or period; receiving a lane change signal, wherein the lane change signal includes a lane change direction; A prompt signal corresponding to the first signal or the second signal in the lane changing direction is generated according to the lane changing signal.

2. The method according to claim 1, characterized in that The lane change reference information also includes lane line type information of the lane where the vehicle is located and adjacent lane validity information. Before outputting the first signal and / or the second signal according to the lane change reference information, the method further includes: If it is determined that a side lane of the lane where the vehicle is located is invalid, or the lane line type between the side lane and the lane where the vehicle is located is a lane change prohibited line type, the second signal in the direction of the side lane is output.

3. The method according to claim 1 or 2, characterized in that The outputting the first signal or the second signal according to the lane change reference information comprises: Calculating a dangerous collision risk level of the vehicle according to the lane-changing reference information, wherein the dangerous collision risk level is positively correlated with a probability of collision between the vehicle and surrounding vehicles when the vehicle changes lanes at a specified time or time period; Confirming that the dangerous collision risk level of the vehicle is less than a preset value, outputting a first signal; If it is confirmed that the dangerous collision risk level of the vehicle is greater than or equal to a preset value, a second signal is output.

4. The method according to claim 3, characterized in that The calculating the dangerous collision risk level of the vehicle according to the lane change reference information includes: The dangerous collision risk level of the vehicle is calculated based on the vehicle speed information, speed information and distance information of objects around the vehicle.

5. The method according to claim 4, characterized in that After calculating the dangerous collision risk level of the vehicle according to the vehicle speed information, the speed information and the distance information of the objects around the vehicle, the method further includes: Obtaining position information of the vehicle on the lane; The dangerous collision risk level of the vehicle is corrected according to the position information of the vehicle on the lane.

6. The method according to claim 4, characterized in that After calculating the dangerous collision risk level of the vehicle according to the vehicle speed information, the speed information and the distance information of the objects around the vehicle, the method further includes: Calculating acceleration information of the vehicle and objects around the vehicle; The dangerous collision risk level of the vehicle is corrected according to the acceleration information of the vehicle and objects around the vehicle.

7. The method according to claim 1, characterized in that Before obtaining the lane change reference information of the vehicle, the method further includes the following steps: Determining that the vehicle satisfies a lane change rejection condition, outputting a second signal; The lane change rejection conditions include that the positioning position of the vehicle is not within a preset operation design domain, and / or the driver of the vehicle is in a preset abnormal driving state.

8. A vehicle lane-changing intelligent reminder system, characterized in that: include: A lane-changing reference information acquisition module, used to acquire lane-changing reference information, wherein the lane-changing reference information includes own vehicle information and own vehicle sensor information; a signal output module, configured to calculate a first signal and / or a second signal according to the lane-changing reference information, wherein the first signal is used to provide the driver with information that a lane-changing condition is met at a specified time or time period, and the second signal is used to provide the driver with information that a lane-changing condition is not met at a specified time or time period; A lane changing module, configured to receive a lane changing signal, wherein the lane changing signal includes a lane changing direction; The lane change indication module is used to generate a prompt signal corresponding to the first signal or the second signal in the lane change direction according to the lane change signal.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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