Auxiliary lane changing method and system of vehicle, vehicle and equipment

Abstract

The invention discloses an auxiliary lane changing method and system of a vehicle, the vehicle and equipment. The auxiliary lane changing method of the vehicle comprises the steps of obtaining vehicle motion information on adjacent lanes in a sensing range; according to the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, whether interference exists in the vehicles on the adjacent lane or not when the own vehicle changes the lane is estimated; if yes, lane changing forbidding prompt is provided for the driver in a man-machine interaction mode, and if not, lane changing prompt is carried out. By adopting the method and the device, whether a collision risk exists between the own vehicle and the adjacent lane vehicle during lane changing can be pre-judged, and the collision risk is displayed to a driver through a head-up display or an instrument, so that the driver can intuitively see whether lane changing can be performed or not without distraction, the lane changing efficiency can be improved to a certain extent, and the driving experience is improved. And accidents caused by distraction of the driver can be reduced, and the driving safety is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle assisted lane change method, system, vehicle and equipment. Background Art

[0002] At present, there is a blind spot detection driving assistance function, namely BSD, for vehicles changing lanes. However, it depends largely on the driver's response, and if there is no detection of the vehicle ahead on the road where the lane is changed, the driver also needs a certain amount of time to pay attention to the feedback of BSD. During this period of time, accidents caused by the driver's distraction may occur. In addition, some vehicles also have lateral lane change assistance control, that is, when there is a vehicle in the blind spot, the lane change control is interrupted, but this method is also a remedial measure, which cannot play an effective role in eliminating or reducing the risk of lane changes in advance. Summary of the invention

[0004] Based on this, it is necessary to provide an assisted lane changing method, system, vehicle and equipment for the above-mentioned technical problems, which can predict whether there is a risk of collision with vehicles in adjacent lanes when the vehicle changes lanes, and display it to the driver through human-computer interaction such as head-up display or instrument. The driver can intuitively see whether he can change lanes without being distracted, which can improve the lane changing efficiency to a certain extent, and can reduce the occurrence of accidents caused by driver distraction, effectively improving driving safety.

[0005] In a first aspect, a vehicle lane change assistance method is provided, comprising:

[0006] Obtain vehicle motion information on adjacent lanes within the sensing range;

[0007] According to the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the ego vehicle changes lanes;

[0008] If so, a no-lane-change prompt is provided to the driver in a human-computer interactive manner. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0009] In some examples, before estimating whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane, the method further includes:

[0010] According to the vehicle movement information on the adjacent lanes within the sensing range, the front vehicle and the rear vehicle with the smallest longitudinal distance to the own vehicle are screened out from the corresponding vehicles on the adjacent lanes.

[0011] In some examples, estimating whether there is interference from a vehicle in an adjacent lane when the ego vehicle changes lanes based on the ego vehicle's vehicle motion information and the vehicle motion information of the adjacent lane includes:

[0012] When the distance between the front vehicle and the vehicle is less than a predetermined distance or the distance between the rear vehicle and the vehicle is less than the predetermined distance, it is determined that there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

[0013] In some examples, the estimating whether there is interference from a vehicle in an adjacent lane when the ego vehicle changes lanes based on the ego vehicle's vehicle motion information and the vehicle motion information of the adjacent lane further includes:

[0014] When the distance between the front vehicle and the vehicle is greater than a predetermined distance and the distance between the rear vehicle and the vehicle is greater than the predetermined distance, a speed difference between the vehicle and the front vehicle is obtained according to a preset lane change time of the vehicle, an acceleration of the vehicle, a speed of the vehicle and a speed of the front vehicle, and a speed difference between the vehicle and the rear vehicle is obtained according to the lane change time of the vehicle, the acceleration of the rear vehicle, the speed of the rear vehicle and the speed of the vehicle;

[0015] According to the speed difference between the vehicle and the front vehicle and the speed difference between the vehicle and the rear vehicle, it is determined whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

[0016] In some examples, the estimating whether there is interference from a vehicle in an adjacent lane when the ego vehicle changes lanes based on the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane further includes:

[0017] When the distance between the front vehicle and the vehicle is greater than a predetermined distance and the distance between the rear vehicle and the vehicle is greater than the predetermined distance, estimating a distance difference when the vehicle collides with the front vehicle and a distance difference when the vehicle collides with the rear vehicle based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane;

[0018] According to the distance difference when the vehicle collides with the front vehicle and the distance difference when the vehicle collides with the rear vehicle, it is determined whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

[0019] In some examples, providing a lane change prohibition prompt to the driver in a human-computer interaction manner includes:

[0020] Displaying a first color on a prohibited lane change side of a vehicle icon through a head-up display or an instrument, wherein the first color is used to indicate prohibited lane change;

[0021] When the lane change is possible, a second color is displayed on the lane change side of the vehicle icon through a head-up display or an instrument, wherein the second color is used to indicate that the lane change is allowed.

[0022] In a second aspect, a vehicle lane change assistance system is provided, comprising:

[0023] An acquisition module is used to obtain vehicle motion information on adjacent lanes within the sensing range;

[0024] A judgment module, used to estimate whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane;

[0025] The lane change assistance module is used to provide the driver with a lane change prohibition prompt in a human-computer interaction manner when there is interference from vehicles in adjacent lanes when the vehicle changes lanes; if there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0026] In a third aspect, a vehicle is provided, comprising: the vehicle's auxiliary lane change system according to the above-mentioned second aspect.

[0027] In a fourth aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the vehicle assisted lane changing method of the first aspect and any possible implementation method of the first aspect are implemented.

[0028] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle's assisted lane changing method of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0029] In a sixth aspect, a computer program product is provided, on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle's assisted lane changing method of the above-mentioned first aspect and any possible implementation method of the first aspect are implemented.

[0030] By adopting the embodiments of the present application, by obtaining the vehicle movement information on the adjacent lanes within the perception range, it is possible to quickly and accurately estimate whether there is interference from vehicles in the adjacent lanes when the vehicle changes lanes, and to provide the driver with a prohibited lane change prompt or a lane change prompt through human-computer interaction. Thus, it is possible to predict whether there is a risk of collision with vehicles in the adjacent lanes when the vehicle changes lanes, and to display it to the driver through human-computer interaction such as a heads-up display or an instrument. The driver can intuitively see whether he can change lanes without being distracted, which can improve the lane change efficiency to a certain extent, reduce accidents caused by driver distraction, and effectively improve driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0032] Figure 1 A flow chart of a vehicle lane change assistance method provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of prompting a driver in the vehicle lane change assistance method provided in an embodiment of the present application;

[0034] Figure 3 A structural block diagram of the auxiliary lane change system of the vehicle provided in an embodiment of the present application;

[0035] Figure 4 A structural block diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The present application is further described in detail below in conjunction with the embodiments and drawings. It is to be understood that the specific embodiments described herein are only used to explain the relevant application, rather than to limit the application. It is also necessary to explain that, for ease of description, only the parts related to the application are shown in the drawings.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present application, that is, the features of the embodiments, can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] The following describes in detail the vehicle assisted lane change method, system, vehicle and equipment according to the embodiments of the present application in conjunction with the accompanying drawings.

[0039] Figure 1 FIG. 1 is a flow chart of a vehicle lane change assistance method according to an embodiment of the present application. Figure 1 As shown, the vehicle lane change assistance method according to an embodiment of the present application includes the following steps:

[0040] S101: Obtain vehicle motion information on adjacent lanes within a sensing range.

[0041] Among them, the position, speed, acceleration and other information of the front and rear vehicles in the adjacent lanes can be perceived through the perception module.

[0042] S102: Estimate, based on the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, whether there is interference from vehicles in the adjacent lane when the own vehicle changes lanes.

[0043] In one embodiment of the present application, before estimating whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane, it also includes: based on the vehicle motion information on the adjacent lanes within the perception range, screening out the front vehicle and the rear vehicle with the smallest longitudinal distance to the vehicle from the corresponding vehicles on the adjacent lanes.

[0044] In one embodiment of the present application, based on the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the own vehicle changes lanes, including: when the distance between the front vehicle and the own vehicle is less than a predetermined distance or the distance between the rear vehicle and the own vehicle is less than the predetermined distance, it is determined that there is interference from vehicles in the adjacent lane when the own vehicle changes lanes.

[0045] In one embodiment of the present application, based on the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference with the vehicles in the adjacent lane when the own vehicle changes lanes, and it also includes: when the distance between the front vehicle and the own vehicle is greater than a predetermined distance and the distance between the rear vehicle and the own vehicle is greater than the predetermined distance, according to the preset lane changing time of the own vehicle, the acceleration of the own vehicle, the speed of the own vehicle and the speed of the front vehicle, the speed difference between the own vehicle and the front vehicle is obtained, and according to the lane changing time of the own vehicle, the acceleration of the rear vehicle, the speed of the rear vehicle and the speed of the own vehicle, the speed difference between the own vehicle and the rear vehicle is obtained; according to the speed difference between the own vehicle and the front vehicle and the speed difference between the own vehicle and the rear vehicle, it is determined whether there is interference with the vehicles in the adjacent lane when the own vehicle changes lanes.

[0046] In one embodiment of the present application, based on the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the own vehicle changes lanes, and it also includes: when the distance between the front vehicle and the own vehicle is greater than a predetermined distance and the distance between the rear vehicle and the own vehicle is greater than the predetermined distance, based on the vehicle motion information of the own vehicle and the vehicle motion information of the adjacent lane, the distance difference when the own vehicle collides with the front vehicle and the distance difference when the own vehicle collides with the rear vehicle are estimated; based on the distance difference when the own vehicle collides with the front vehicle and the distance difference when the own vehicle collides with the rear vehicle, it is determined whether there is interference from vehicles in the adjacent lane when the own vehicle changes lanes.

[0047] Specifically, the speed of the vehicle is V, the acceleration is a, and the target vehicle ID in the lane change area is identified. Each ID has a longitudinal distance X, a longitudinal speed V, and a longitudinal acceleration a. The center of the vehicle is used as the coordinate origin. The distance to the vehicle in front of the vehicle is displayed as positive, and the distance to the vehicle behind the vehicle is displayed as negative. The ID information of the vehicle in front is the longitudinal distance Fx (m), the longitudinal speed Fv (m / s), and the longitudinal acceleration Fa (m / s 2 ), the ID information of the rear vehicle is the longitudinal distance Bx (m), longitudinal speed Bv (m / s), longitudinal acceleration Ba (m / s 2 ), only the ID of the vehicle closest to the adjacent lanes in front and behind the vehicle can be screened and identified. Then the feasibility of lane change is calculated.

[0048] 1. When there is no lateral target interference in the lane change, the lane line of the human-computer interaction is displayed in green, and you can change lanes at any time.

[0049] 2. When there is a target vehicle in the adjacent lane within 2m in front of or behind the vehicle, that is, Fx<2m||Bx<-2m, one of the two is satisfied. The target vehicle is too close to the vehicle, the human-machine interaction is displayed in red, and lane change is prohibited.

[0050] 3. Determine speed:

[0051] When Fx>2m and Bx<-2m, the following calculation is performed:

[0052] Th1=V-(Bv+Ba×t)

[0053] Th2=Fv-(V+a×t)

[0054] Where t is the lane change time of the vehicle. The normal lane change time is 2-5s. The lane change prompt setting can be selected according to the driver's driving intensity; for example, 2s is aggressive, 3s is normal, and 5s is steady. Th1 and Th2 are the speed differences between the vehicle and the rear and front vehicles, respectively.

[0055] When Th1>0, it means there is no threat behind the vehicle when changing lanes. At this time, it is judged whether there is an interfering vehicle in front of the lane changing area of ​​the vehicle. When Th2>0, it means there is no threat in front of the vehicle when changing lanes, and the lane change can be made.

[0056] If Th1<0 or Th2<0, lane changing is prohibited.

[0057] 4. Determine distance:

[0058] When Fx>2m and Bx<-2m, the following calculation is performed:

[0059]

[0060] Th3 and Th4 calculate the distance difference between the rear vehicle, the front vehicle and the vehicle when they collide.

[0061] When Th3<0, it means that there is no threat behind the vehicle when it changes lanes. At this time, it is judged whether there is an interfering vehicle in front of the lane changing area of ​​the vehicle. When Th4>0, it means that there is no threat in front of the vehicle when it changes lanes, and the lane change can be made.

[0062] If Th3>0 or Th4<0, either of them is satisfied, lane changing is prohibited.

[0063] S103: If there is interference from vehicles in adjacent lanes when the vehicle changes lanes, a lane change prohibition prompt is provided to the driver in a human-computer interaction manner; if there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0064] In a specific example, providing a prohibited lane change reminder to the driver in a human-computer interactive manner includes: displaying a first color on the prohibited lane change side of the vehicle icon through a head-up display or an instrument, wherein the first color is used to represent that the lane change is prohibited; when the lane is changeable, displaying a second color on the variable lane side of the vehicle icon through a head-up display or an instrument, wherein the second color is used to represent that the lane change is allowed.

[0065] like Figure 2 As shown, the area to be changed is displayed in the restored world, for example: the lane display of the lane change area is green, such as the traffic light allowing passage, that is, when the driver wants to change lanes, he can change lanes directly when he sees green, and he does not need to shake his head left and right to view the lane change environment; when the lane change is prohibited, such as the red color of the traffic light prohibiting passage, that is, when the driver wants to change lanes, he will suspend the lane change behavior when he sees red, and he does not need to shake his head left and right to view the lane change environment. It can be seen directly in the head-up display or the instrument to avoid distraction of the driver, thereby effectively improving driving safety.

[0066] According to the assisted lane changing method of the vehicle in the embodiment of the present application, by obtaining the vehicle movement information on the adjacent lanes within the perception range, it is possible to quickly and accurately estimate whether there is interference from the vehicles in the adjacent lanes when the vehicle changes lanes, and can provide the driver with a prohibited lane change prompt or a lane change prompt through human-computer interaction. Thus, it is possible to predict whether there is a risk of collision with the vehicle in the adjacent lane when the vehicle changes lanes, and display it to the driver through human-computer interaction such as a heads-up display or an instrument. The driver can intuitively see whether he can change lanes without being distracted, which can improve the lane changing efficiency to a certain extent, and can reduce the occurrence of accidents caused by driver distraction, thereby effectively improving driving safety.

[0067] Figure 3 1 is a structural block diagram of a vehicle lane change assistance system according to an embodiment of the present application. Figure 3 As shown, the auxiliary lane change system of the vehicle according to the embodiment of the present application includes: an acquisition module 310, a judgment module 320 and an auxiliary lane change module 330, wherein:

[0068] An acquisition module 310 is used to obtain vehicle motion information on adjacent lanes within a sensing range;

[0069] The judgment module 320 is used to estimate whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane;

[0070] The lane change assistance module 330 is used to provide the driver with a lane change prohibition prompt in a human-computer interaction manner when there is interference from vehicles in adjacent lanes when the vehicle changes lanes. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0071] According to the assisted lane change system of the vehicle in the embodiment of the present application, by obtaining the vehicle movement information on the adjacent lanes within the perception range, it can quickly and accurately estimate whether there is interference from the vehicles in the adjacent lanes when the vehicle changes lanes, and can provide the driver with a prohibited lane change prompt or a lane change prompt through human-computer interaction. Therefore, it is predicted whether there is a risk of collision with the vehicle in the adjacent lane when the vehicle changes lanes, and it is displayed to the driver through human-computer interaction methods such as heads-up display or instrument. The driver can intuitively see whether the lane change is possible without being distracted, which can improve the lane change efficiency to a certain extent, and can reduce the occurrence of accidents caused by driver distraction, effectively improving driving safety.

[0072] For the specific definition of the vehicle's assisted lane change system, please refer to the definition of the vehicle's assisted lane change method above, which will not be repeated here. The various modules of the above-mentioned vehicle's assisted lane change system can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0073] In one embodiment, a vehicle is provided, comprising: an auxiliary lane change system for a vehicle according to the above-mentioned embodiment, wherein the vehicle can quickly and accurately estimate whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes by obtaining vehicle motion information on adjacent lanes within a sensing range, and can provide a driver with a prohibited lane change prompt or a lane change prompt through human-computer interaction, thereby predicting whether there is a risk of collision with vehicles in adjacent lanes when the vehicle changes lanes, and displaying it to the driver through human-computer interaction such as a head-up display or an instrument, so that the driver can intuitively see whether lane change is possible without being distracted, which can improve lane change efficiency to a certain extent, and can reduce accidents caused by driver distraction, thereby effectively improving driving safety.

[0074] In one embodiment, a computer device is provided. Figure 4 This is a block diagram of the computer device provided in the embodiment of the present application, refer to Figure 4 The computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the above-mentioned vehicle lane change assistance method embodiment is implemented. For example, the following steps are performed: obtaining vehicle motion information on adjacent lanes within the sensing range;

[0075] According to the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the ego vehicle changes lanes;

[0076] If so, a no-lane-change prompt is provided to the driver in a human-computer interactive manner. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0077] The embodiment of the present application further provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the above-mentioned vehicle assisted lane change method embodiment. For example, the following steps are performed: obtaining vehicle motion information on adjacent lanes within the sensing range;

[0078] According to the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the ego vehicle changes lanes;

[0079] If so, a no-lane-change prompt is provided to the driver in a human-computer interactive manner. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0080] The present application embodiment provides a computer program product, which includes instructions. When the instructions are executed, the method described in the embodiment of the present application is executed. For example, it can be executed Figure 1 The various steps of the vehicle's assisted lane change method shown, for example, are performed: obtaining vehicle motion information on adjacent lanes within a sensing range;

[0081] According to the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the ego vehicle changes lanes;

[0082] If so, a no-lane-change prompt is provided to the driver in a human-computer interactive manner. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the methods for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0084] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A vehicle lane-changing assistance method, characterized in that: include: Obtain vehicle motion information on adjacent lanes within the sensing range; According to the vehicle motion information of the ego vehicle and the vehicle motion information of the adjacent lane, it is estimated whether there is interference from vehicles in the adjacent lane when the ego vehicle changes lanes; If so, a no-lane-change prompt is provided to the driver in a human-computer interactive manner. If there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is provided.

2. The vehicle lane change assistance method according to claim 1, characterized in that: Before estimating whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane, the method further includes: According to the vehicle movement information on the adjacent lanes within the sensing range, the front vehicle and the rear vehicle with the smallest longitudinal distance to the own vehicle are screened out from the corresponding vehicles on the adjacent lanes.

3. The vehicle lane change assistance method according to claim 2, characterized in that: The estimating, based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane, whether there is interference from a vehicle in the adjacent lane when the vehicle changes lanes includes: When the distance between the front vehicle and the vehicle is less than a predetermined distance or the distance between the rear vehicle and the vehicle is less than the predetermined distance, it is determined that there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

4. The vehicle lane change assistance method according to claim 3, characterized in that: The estimating whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane also includes: When the distance between the front vehicle and the vehicle is greater than a predetermined distance and the distance between the rear vehicle and the vehicle is greater than the predetermined distance, a speed difference between the vehicle and the front vehicle is obtained according to a preset lane change time of the vehicle, an acceleration of the vehicle, a speed of the vehicle and a speed of the front vehicle, and a speed difference between the vehicle and the rear vehicle is obtained according to the lane change time of the vehicle, the acceleration of the rear vehicle, the speed of the rear vehicle and the speed of the vehicle; According to the speed difference between the vehicle and the front vehicle and the speed difference between the vehicle and the rear vehicle, it is determined whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

5. The vehicle lane change assistance method according to claim 3, characterized in that: The estimating whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane also includes: When the distance between the front vehicle and the vehicle is greater than a predetermined distance and the distance between the rear vehicle and the vehicle is greater than the predetermined distance, estimating a distance difference when the vehicle collides with the front vehicle and a distance difference when the vehicle collides with the rear vehicle based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane; According to the distance difference when the vehicle collides with the front vehicle and the distance difference when the vehicle collides with the rear vehicle, it is determined whether there is interference from vehicles in adjacent lanes when the vehicle changes lanes.

6. The vehicle lane-changing assistance method according to any one of claims 1 to 5, characterized in that: Providing a lane change prohibition prompt to the driver in a human-computer interaction manner includes: Displaying a first color on a prohibited lane change side of a vehicle icon through a head-up display or an instrument, wherein the first color is used to indicate prohibited lane change; When the lane change is possible, a second color is displayed on the lane change side of the vehicle icon through a head-up display or an instrument, wherein the second color is used to indicate that the lane change is allowed.

7. A vehicle lane change assistance system, characterized in that: include: An acquisition module is used to obtain vehicle motion information on adjacent lanes within the sensing range; A judgment module, used to estimate whether there is interference from a vehicle in an adjacent lane when the vehicle changes lanes based on the vehicle motion information of the vehicle and the vehicle motion information of the adjacent lane; The lane change assistance module is used to provide the driver with a lane change prohibition prompt in a human-computer interaction manner when there is interference from vehicles in adjacent lanes when the vehicle changes lanes; if there is no interference from vehicles in adjacent lanes when the vehicle changes lanes or there are no vehicles in adjacent lanes within the perception range, a lane change prompt is given.

8. A vehicle, characterized in that: include: The vehicle lane change assistance system according to claim 7.

9. A computer 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 program, the vehicle assisted lane change method according to any one of claims 1-6 is implemented.

10. A computer-readable storage medium, comprising a memory and a computer program stored in the memory and executable on a processor, characterized in that: When the program is executed by the processor, the assisted lane changing method for the vehicle according to any one of claims 1-6 is implemented.

Images