Lane changing model generation method and device, storage medium and electronic equipment

Abstract

The invention provides a lane changing model generation method, a lane changing model generation device, a computer readable storage medium and electronic equipment, and relates to the technical field of head-up display. The lane changing model generation method comprises the steps that the distance between a vehicle and a front object and the speed of the vehicle are obtained; determining a plurality of lane changing control points according to the distance between the vehicle and the front object and the speed of the vehicle; and generating a lane changing model according to the plurality of lane changing control points. The lane changing model can be generated in real time to adapt to the current scene, and the driving safety can be improved.

Description

Background Art

[0002] With the development of the automobile industry, the functions of automobile products are constantly enriched. AR-HUD is a combination of AR (Augmented Reality) and HUD (Head Up Display) technologies, and has gradually been applied to vehicles. Multi-scene lane display, as a basic item of AR-HUD function, can assist vehicle driving.

[0003] Currently, for lane-changing scenarios, a lane-changing model needs to be drawn in advance. This solution using a pre-drawn lane-changing model for display may not be able to adapt to the current scenario, resulting in the risk of vehicle collision.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a lane change model generation method, a lane change model generation device, a computer-readable storage medium and an electronic device, thereby at least to a certain extent overcoming the problem that the pre-drawn lane change model cannot adapt to the current scene.

[0006] According to a first aspect of the present disclosure, a method for generating a lane change model is provided, comprising: obtaining a distance between a vehicle and a front object and a speed of the vehicle; determining a plurality of lane change control points in combination with the distance between the vehicle and the front object and the speed of the vehicle; and generating a lane change model according to the plurality of lane change control points.

[0007] Optionally, obtaining the distance between the vehicle and the object ahead and the speed of the vehicle includes: if the vehicle satisfies a lane change guidance condition, obtaining the distance between the vehicle and the object ahead and the speed of the vehicle; wherein the lane change guidance condition includes triggering a lane change operation or the navigation guidance function is in an on state.

[0008] Optionally, the multiple lane change control points include a starting lane change control point, an ending lane change control point and at least one intermediate lane change control point; wherein, determining the multiple lane change control points in combination with the distance between the vehicle and the object in front and the speed of the vehicle includes: determining the near point of the display area of ​​the head-up display as the starting lane change control point; determining the ending lane change control point according to the coordinate value of the object in front along the first direction and the coordinate value of the center line of the lane after lane change along the second direction; the first direction is the direction of vehicle travel, and the second direction is a direction perpendicular to the first direction; determining at least one intermediate lane change control point according to the distance between the vehicle and the object in front and the speed of the vehicle.

[0009] Optionally, determining at least one intermediate lane change control point based on the distance between the vehicle and the object ahead and the speed of the vehicle includes: if the distance between the vehicle and the object ahead is greater than or equal to a first distance threshold and the speed of the vehicle is less than or equal to a first speed threshold, then determining the center of the first triangle as the intermediate lane change control point; wherein the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the location point of the object ahead.

[0010] Optionally, determining at least one intermediate lane change control point based on the distance between the vehicle and the object ahead and the speed of the vehicle also includes: if the distance between the vehicle and the object ahead is between a first distance threshold and a second distance threshold and the speed of the vehicle is less than or equal to the second speed threshold, then determining the incenter of the second triangle and the incenter of the third triangle as intermediate lane change control points respectively; wherein the second distance threshold is less than the first distance threshold; the second speed threshold is less than the first speed threshold; the three vertices of the second triangle are respectively the terminating lane change control point, the middle point, and a first reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the middle point is the midpoint of the line connecting the starting lane change control point and the terminating lane change control point; the three vertices of the third triangle are respectively the starting lane change control point, the middle point, and a second reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the starting lane change control point along the second direction.

[0011] Optionally, determining at least one intermediate lane change control point based on the distance between the vehicle and the object ahead and the speed of the vehicle also includes: if the distance between the vehicle and the object ahead is between a second distance threshold and a third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, then determining the intermediate point, the incenter of the fourth triangle, the incenter of the fifth triangle, the incenter of the sixth triangle, and the incenter of the seventh triangle as intermediate lane change control points, respectively; wherein the third distance threshold is less than the second distance threshold; the third speed threshold is less than the second speed threshold; the three vertices of the fourth triangle are respectively the terminating lane change control point, the first sub-intermediate point, and a third reference point determined according to the coordinate value of the first sub-intermediate point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the first sub-intermediate point is the The point is the midpoint of the line connecting the terminating lane change control point and the intermediate point; the three vertices of the fifth triangle are respectively the first sub-intermediate point, the intermediate point, and the fourth reference point determined according to the coordinate value of the intermediate point along the first direction and the coordinate value of the first sub-intermediate point along the second direction; the three vertices of the sixth triangle are respectively the starting lane change control point, the second sub-intermediate point, and the fifth reference point determined according to the coordinate value of the second sub-intermediate point along the first direction and the coordinate value of the starting lane change control point along the second direction, and the second sub-intermediate point is the midpoint of the line connecting the starting lane change control point and the intermediate point; the three vertices of the seventh triangle are respectively the second sub-intermediate point, the intermediate point, and the sixth reference point determined according to the coordinate value of the intermediate point along the first direction and the coordinate value of the second sub-intermediate point along the second direction.

[0012] Optionally, determining at least one intermediate lane change control point based on the distance between the vehicle and the object ahead and the speed of the vehicle also includes: if the distance between the vehicle and the object ahead is between a third distance threshold and a fourth distance threshold and the speed of the vehicle is less than or equal to a fourth speed threshold, determining the center of the first triangle as the intermediate lane change control point.

[0013] Optionally, generating a lane change model according to a plurality of lane change control points includes: adjusting a current head-up display model according to the plurality of lane change control points in combination with a Bezier curve to generate the lane change model.

[0014] Optionally, the model of the current head-up display is adjusted according to multiple lane change control points in combination with Bezier curves to generate a lane change model, including: proportionally converting the multiple lane change control points according to the scaling ratio of the real world and the head-up display model to determine multiple target control points; calculating Bezier curves based on the multiple target control points to determine multiple curve points; and adjusting the current head-up display model using the multiple curve points to generate a lane change model.

[0015] According to a second aspect of the present disclosure, a lane change model generation device is provided, including: a data acquisition module, used to obtain the distance between a vehicle and a front object and the speed of the vehicle; a control point determination module, used to determine multiple lane change control points based on the distance between the vehicle and the front object and the speed of the vehicle; and a model generation module, used to generate a lane change model based on the multiple lane change control points.

[0016] Optionally, the data acquisition module is configured to execute: if the vehicle meets the lane change guidance condition, then obtain the distance between the vehicle and the front object and the speed of the vehicle; wherein the lane change guidance condition includes triggering the lane change operation or the navigation guidance function is in an on state.

[0017] Optionally, the multiple lane change control points include a starting lane change control point, a terminating lane change control point, and at least one intermediate lane change control point. In this case, the control point determination module is configured to execute: determining the near point of the display area of ​​the head-up display as the starting lane change control point; determining the terminating lane change control point according to the coordinate value of the front object along the first direction and the coordinate value of the lane centerline after the lane change along the second direction; the first direction is the vehicle's driving mode, and the second direction is a direction perpendicular to the first direction; determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle.

[0018] Optionally, the process of determining at least one intermediate lane change control point by the control point determination module is configured to execute: if the distance between the vehicle and the object ahead is greater than or equal to a first distance threshold and the speed of the vehicle is less than or equal to a first speed threshold, then the center of the first triangle is determined as the intermediate lane change control point; wherein the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the location point of the object ahead.

[0019] Optionally, the process of determining at least one intermediate lane change control point by the control point determination module is also configured to execute: if the distance between the vehicle and the object ahead is between a first distance threshold and a second distance threshold and the speed of the vehicle is less than or equal to the second speed threshold, then the incenter of the second triangle and the incenter of the third triangle are respectively determined as intermediate lane change control points; wherein the second distance threshold is less than the first distance threshold; the second speed threshold is less than the first speed threshold; the three vertices of the second triangle are respectively the terminating lane change control point, the middle point, and a first reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the middle point is the midpoint of the line connecting the starting lane change control point and the terminating lane change control point; the three vertices of the third triangle are respectively the starting lane change control point, the middle point, and a second reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the starting lane change control point along the second direction.

[0020] Optionally, the process of determining at least one intermediate lane change control point by the control point determination module is also configured to execute: if the distance between the vehicle and the object ahead is between the second distance threshold and the third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, then the intermediate point, the incenter of the fourth triangle, the incenter of the fifth triangle, the incenter of the sixth triangle, and the incenter of the seventh triangle are respectively determined as intermediate lane change control points; wherein the third distance threshold is less than the second distance threshold; the third speed threshold is less than the second speed threshold; the three vertices of the fourth triangle are respectively the terminating lane change control point, the first sub-intermediate point, and the third reference point determined according to the coordinate value of the first sub-intermediate point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the first sub-intermediate point is the terminating lane change control point. The midpoint of the line connecting the stop lane change control point and the middle point; the three vertices of the fifth triangle are the first sub-middle point, the middle point, and the fourth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the first sub-middle point along the second direction; the three vertices of the sixth triangle are the starting lane change control point, the second sub-middle point, and the fifth reference point determined according to the coordinate value of the second sub-middle point along the first direction and the coordinate value of the starting lane change control point along the second direction, and the second sub-middle point is the midpoint of the line connecting the starting lane change control point and the middle point; the three vertices of the seventh triangle are the second sub-middle point, the middle point, and the sixth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the second sub-middle point along the second direction.

[0021] Optionally, the process of determining at least one intermediate lane change control point by the control point determination module is also configured to execute: if the distance between the vehicle and the object ahead is between a third distance threshold and a fourth distance threshold and the speed of the vehicle is less than or equal to a fourth speed threshold, then the inner center of the first triangle is determined as the intermediate lane change control point.

[0022] Optionally, the model generation module is configured to perform: adjusting the current head-up display model according to multiple lane change control points in combination with a Bezier curve to generate a lane change model.

[0023] Optionally, the model generation module is configured to perform: proportionally converting multiple lane change control points according to a scaling ratio between the real world and the head-up display model to determine multiple target control points; calculating Bezier curves based on the multiple target control points to determine multiple curve points; and adjusting the current head-up display model using the multiple curve points to generate a lane change model.

[0024] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any of the above-mentioned lane change model generation methods is implemented.

[0025] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to implement any of the above-mentioned lane change model generation methods by executing the executable instructions.

[0026] In the technical solutions provided by some embodiments of the present disclosure, multiple lane change control points are determined by the distance between the vehicle and the object in front and the speed of the vehicle, and then a lane change model is generated based on these lane change control points. On the one hand, the lane change model of the present disclosure is generated in real time based on the distance between the vehicle and the object in front and the speed of the vehicle, which can better adapt to the current scene, effectively guide the driver, and reduce the safety hazard of vehicle collision; on the other hand, since the lane change model is generated in real time, the display effect is flexible and changeable, which helps to improve the user experience; on the other hand, the solution of the present disclosure does not need to pre-draw the lane change model, which reduces the initial development cost.

[0027] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0029] Figure 1 A system architecture diagram of the lane change model generation solution of an embodiment of the present disclosure is shown.

[0030] Figure 2 A flowchart of the lane change model processing process based on the system architecture diagram of the lane change model generation solution of the embodiment of the present disclosure is shown.

[0031] Figure 3 A flowchart of a lane change model generation method according to an embodiment of the present disclosure is schematically shown.

[0032] Figure 4 A schematic diagram of determining an intermediate lane change control point based on a first triangle according to an embodiment of the present disclosure is shown.

[0033] Figure 5 A schematic diagram of determining an intermediate lane change control point based on a second triangle and a third triangle according to an embodiment of the present disclosure is shown.

[0034] Figure 6 A schematic diagram of determining an intermediate lane change control point based on a fourth triangle, a fifth triangle, a sixth triangle, and a seventh triangle in an embodiment of the present disclosure is shown.

[0035] Figure 7 Shown with Figure 4 Schematic diagram of the corresponding lane change model.

[0036] Figure 8 Shown with Figure 7 Schematic diagram of the corresponding vehicle lane change scenario.

[0037] Fig. 9 Shown with Figure 5 Schematic diagram of the corresponding lane change model.

[0038] Fig.10 Shown with Fig. 9 Schematic diagram of the corresponding vehicle lane change scenario.

[0039] Fig.11 Shown with Figure 6 Schematic diagram of the corresponding lane change model.

[0040] Fig.12 Shown with Fig.11 Schematic diagram of the corresponding vehicle lane change scenario.

[0041] Fig.13 A block diagram of a lane change model generating device according to an embodiment of the present disclosure is schematically shown.

[0042] Fig.14 A block diagram of an electronic device according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0044] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0045] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation. In addition, all the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh", etc. below are only for the purpose of distinction and should not be used as limitations of the present disclosure.

[0046] In the current AR-HUD lane-changing scenarios, the lane-changing model is a model drawn in advance for the main scenario. This will cause the lane-changing model to be unable to adapt to all application scenarios and unable to provide lane-changing guidance in a timely and accurate manner. Lane displays that do not match the scenario may appear, leading to the risk of vehicle collision.

[0047] In order to solve the above problems or at least alleviate the consequences of the above problems, the present disclosure provides a new lane change model generation solution, which can be applied to the lane change function in AR-HUD or the navigation driving guidance function. The lane change model generation solution of the embodiment of the present disclosure is applicable to all lane change scenarios, has high real-time performance, can effectively guide drivers, and improve driving safety.

[0048] In addition to applying the lane change model generation solution of the embodiment of the present disclosure to vehicle-mounted products, it can also be applied to lane change guidance processes involved in, for example, driving simulations, vehicle games, etc., and the present disclosure does not impose any restrictions on this.

[0049] Figure 1 The system architecture diagram of the lane change model generation solution of the embodiment of the present disclosure is shown. Figure 1 The lane change model generating system 1 may include a communication module 110 , a data processing module 130 , a data updating module 150 and a display module 170 .

[0050] The internal process of the communication module 110 can obtain vehicle-related data, including the distance between the vehicle and the object in front, the speed of the vehicle, multiple lane change control points of the guide lane, etc.

[0051] The data processing module 130 can process the data transmitted by the communication module 110, store it in a specific data queue, parse the required vehicle distance, vehicle speed, and multiple lane change control points of the guide lane, and perform logical processing on these data to obtain the change data of the lane model.

[0052] The data updating module 150 can update the changed data after logical processing to the nodes of the current model.

[0053] The display module 170 may perform display according to the updated data.

[0054] Figure 2 A flowchart schematically shows a lane change model processing process based on the system architecture of the lane change model generation solution of an embodiment of the present disclosure.

[0055] In step S202, data collection is performed. Specifically, when the vehicle is traveling in a lane, the ECU (Electronic Control Unit) in the vehicle communicates normally to obtain real-time vehicle body information, including the distance between the vehicle and the object in front, the vehicle's speed, and multiple lane change control points of the guidance lane. At the same time, it is detected whether the vehicle meets the lane change guidance conditions. When the lane change guidance conditions are met, the data collected by the ECU is pushed into the queue through socket communication.

[0056] In step S204, it is detected whether the data is updated. If the data is not updated, there is no need to adjust the lane change model and the process ends; if the data is updated, step S206 is executed.

[0057] In step S206, the data is parsed.

[0058] In step S208, it is determined whether the data is logically processed. If the data is not logically processed, the data is not updated and the process ends; if the data is logically processed, step S210 is executed.

[0059] In step S210 , data updating is performed.

[0060] In step S212, the lane change model is generated.

[0061] The lane change model generation scheme of the embodiment of the present disclosure can be implemented by the electronic device of the vehicle, that is, the electronic device can execute each step of the lane change model generation method described below, and the lane change model generation device described below can be configured in the electronic device. The present disclosure does not limit the type of electronic device, which can be the central control system of the vehicle, a head-up display device, or any computer processing device configured on the vehicle.

[0062] Figure 3The flowchart of the lane change model generation method according to an exemplary embodiment of the present disclosure is schematically shown. Figure 3 , the lane change model generation method may include the following steps:

[0063] S32. Obtain the distance between the vehicle and the front object and the speed of the vehicle.

[0064] In an exemplary embodiment of the present disclosure, the object in front of the vehicle may be the object closest to the vehicle in the direction of travel of the vehicle, that is, the object in front of the vehicle may refer to the first object in front of the vehicle in the lane where the vehicle is located. The present disclosure does not limit the type of the object in front of the vehicle, and specifically, it may be a vehicle in front, an obstacle, or an interference object on the lane, etc.

[0065] According to some embodiments of the present disclosure, the distance between the vehicle and the object ahead and the speed of the vehicle can be acquired in real time by the ECU of the vehicle. If it is determined that the vehicle meets the lane change guidance conditions, the ECU sends these data to the electronic device that executes the lane change model generation method of the embodiment of the present disclosure. Among them, the lane change guidance conditions may include triggering a lane change operation or the navigation guidance function is turned on, and the lane change operation may include the driver's dialing operation of a lane change lever (or lever), button or piece.

[0066] According to other embodiments of the present disclosure, the vehicle does not obtain the distance to the object ahead and the speed of the vehicle in real time, but controls the ECU to collect the distance to the object ahead and the speed of the vehicle when it is determined that the vehicle meets the above-mentioned lane change guidance conditions, and obtains the distance from the vehicle to the object ahead and the speed of the vehicle from the ECU.

[0067] S34. Determine a plurality of lane change control points based on the distance between the vehicle and the front object and the speed of the vehicle.

[0068] In an exemplary embodiment of the present disclosure, the lane change control point is a key position point for adjusting the lane model. The multiple lane change control points used in the present disclosure include a starting lane change control point, a terminating lane change control point, and at least one intermediate lane change control point. Among them, the starting lane change control point can be referred to as the starting point, and the terminating lane change control point can be referred to as the end point. It should be noted that the lane change control points mentioned in the present disclosure are all two-dimensional position points for the road plane.

[0069] For the starting lane change control point, the near point of the display area of ​​the head-up display can be determined as the starting lane change control point. In the embodiment of the present disclosure, the starting lane change control point is recorded as point A, and the coordinates are marked as (x1, y1).

[0070] In addition, the present disclosure records the position point of the front object as point B, and the coordinates are marked as (x2, y2).

[0071] The end lane change control point can be determined based on the coordinate value of the front object along the first direction and the coordinate value of the lane centerline after lane change along the second direction (i.e., the coordinate value of the position of 1 / 2 width of the lane after lane change). The first direction is the direction of vehicle travel, and the second direction is the direction perpendicular to the first direction. In the disclosed embodiment, the end lane change control point is recorded as point C, and the coordinates are marked as (x3, y3).

[0072] In addition to the starting lane change control point and the ending lane change control point, the electronic device can determine at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle. The process of determining the intermediate lane change control point will be described below.

[0073] According to some embodiments of the present disclosure, if the distance between the vehicle and the front object is greater than or equal to a first distance threshold and the speed of the vehicle is less than or equal to a first speed threshold, the center of the first triangle is determined as the intermediate lane change control point. The first distance threshold may be, for example, 150 m, and the first speed threshold may be, for example, 60 km / h.

[0074] Among them, the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the position point of the front object.

[0075] refer to Figure 4 The first triangle is formed by the starting lane change control point A, the ending lane change control point C and the position point B where the front object is located. The incenter point E1 of the first triangle is used as the intermediate lane change control point under this vehicle distance and vehicle speed condition.

[0076] First, we can use the distance formula between two points |AB|=√[(x2-x1)^2+(y2-y1)^2] to get BC=a, CA=b, AB=c. Next, use the inner formula (a*A(x,y)+b*B(x,y)+c*C(x,y)) / (a+b+c) to get the middle lane change control point E1.

[0077] According to other embodiments of the present disclosure, if the distance between the vehicle and the front object is between the first distance threshold and the second distance threshold and the speed of the vehicle is less than or equal to the second speed threshold, the incenter of the second triangle and the incenter of the third triangle are respectively determined as the intermediate lane change control point. The second distance threshold is less than the first distance threshold, and the second distance threshold is, for example, 100m. The second speed threshold is less than the first speed threshold, and the second speed threshold is, for example, 40km / h.

[0078] On the one hand, the three vertices of the second triangle are the end lane change control point, the middle point, and the first reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the end lane change control point along the second direction, and the middle point is the midpoint of the line connecting the start lane change control point and the end lane change control point. On the other hand, the three vertices of the third triangle are the start lane change control point, the middle point, and the second reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the start lane change control point along the second direction.

[0079] refer to Figure 5 , the middle point D can be determined by the starting lane change control point A and the ending lane change control point C. The first reference point C1 is determined according to the coordinate value of the middle point D along the first direction and the coordinate value of the ending lane change control point C along the second direction. The second reference point A1 is determined according to the coordinate value of the middle point D along the first direction and the coordinate value of the starting lane change control point A along the second direction. It can be seen that the second triangle is CDC1 and the third triangle is ADA1.

[0080] First, the midpoint D of the AC line is calculated according to the midpoint formula ((x1+x2) / 2, (y1+y2) / 2). Then, the incenter E2 of the second triangle CDC1 and the incenter E3 of the third triangle ADA1 are determined using the incenter formula. E2 and E3 are the intermediate lane change control points under this vehicle distance and speed.

[0081] According to some further embodiments of the present disclosure, if the distance between the vehicle and the object ahead is between the second distance threshold and the third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, the above-mentioned middle point, the incenter of the fourth triangle, the incenter of the fifth triangle, the incenter of the sixth triangle, and the incenter of the seventh triangle are respectively determined as the middle lane change control point. Among them, the third distance threshold is less than the second distance threshold, and the third distance threshold is, for example, 50m. The third speed threshold is less than the second speed threshold, and the third speed threshold is, for example, 30km / h.

[0082] The three vertices of the fourth triangle are respectively the terminating lane change control point, the first sub-middle point, and the third reference point determined according to the coordinate value of the first sub-middle point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the first sub-middle point is the midpoint of the line connecting the terminating lane change control point and the middle point; the three vertices of the fifth triangle are respectively the first sub-middle point, the middle point, and the fourth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the first sub-middle point along the second direction; the three vertices of the sixth triangle are respectively the starting lane change control point, the second sub-middle point, and the fifth reference point determined according to the coordinate value of the second sub-middle point along the first direction and the coordinate value of the starting lane change control point along the second direction, and the second sub-middle point is the midpoint of the line connecting the starting lane change control point and the middle point; the three vertices of the seventh triangle are respectively the second sub-middle point, the middle point, and the sixth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the second sub-middle point along the second direction.

[0083] refer to Figure 6 , the middle point D can be determined by the starting lane change control point A and the ending lane change control point C. On the one hand, the midpoint of the line connecting the ending lane change control point C and the middle point D is the first sub-middle point D1. The third reference point C1 is determined according to the coordinate value of the first sub-middle point D1 along the first direction and the coordinate value of the ending lane change control point C along the second direction. The fourth reference point C2 is determined according to the coordinate value of the middle point D along the first direction and the coordinate value of the first sub-middle point D1 along the second direction. Thus, the fourth triangle CC1D1 and the fifth triangle D1C2D can be determined.

[0084] On the other hand, the midpoint of the line connecting the starting lane change control point A and the middle point D is the second middle point D2. The fifth reference point A1 is determined based on the coordinate value of the second middle point D2 along the first direction and the coordinate value of the starting lane change control point A along the second direction. The sixth reference point A2 is determined based on the coordinate value of the middle point D along the first direction and the coordinate value of the second middle point D2 along the second direction. Thus, the sixth triangle D2A1A and the seventh triangle DA2D2 can be determined.

[0085] refer to Figure 6 The intermediate lane change control points under this vehicle distance and speed condition may include the middle point D, the incenter E4 of the fourth triangle CC1D1, the incenter E5 of the fifth triangle D1C2D, the incenter E6 of the sixth triangle D2A1A and the incenter E7 of the seventh triangle DA2D2.

[0086] According to some other embodiments of the present disclosure, if the distance between the vehicle and the front object is between the third distance threshold and the fourth distance threshold and the speed of the vehicle is less than or equal to the fourth speed threshold, the first triangle is determined, and the center of the first triangle is determined as the intermediate lane change control point. The fourth distance threshold is less than the third distance threshold, and the fourth distance threshold is, for example, 20m. The fourth speed threshold is less than the third speed threshold, and the fourth speed threshold is, for example, 20km / h.

[0087] The process of constructing the first triangle and determining the incenter of the first triangle has been explained in the above description and will not be repeated here.

[0088] S36. Generate a lane change model according to multiple lane change control points.

[0089] In an exemplary embodiment of the present disclosure, the lane model of the current head-up display may be adjusted in combination with a Bezier curve to generate a lane change model.

[0090] First, according to the scaling ratio of the real world and the head-up display model, the above-mentioned multiple lane change control points are scaled to determine multiple target control points, thereby realizing the mapping of the real scene to the head-up display scene.

[0091] Next, a Bezier curve may be calculated based on the plurality of target control points to determine a plurality of curve points.

[0092] Different orders of Nessel curves can be selected according to the number of lane change control points. For example, in the above embodiment of three lane change control points, a second-order Bezier curve can be used for calculation; for another example, in the above embodiment of four lane change control points, a third-order Bezier curve can be used for calculation.

[0093] Subsequently, the current head-up display model may be adjusted using a plurality of curve points to generate a lane change model.

[0094] The lane change model is generated by adjusting the current head-up display model. In this way, part of the existing model data can be reused, and the amount of calculation is small.

[0095] In addition, in addition to making adjustments based on the current head-up display model, the electronic device can also use the lane change control point to redraw the lane change model, which is not limited by the present disclosure.

[0096] Figure 7 Shown with Figure 4 Schematic diagram of the corresponding lane change model. When the distance between the vehicle and the front object is greater than or equal to the first distance threshold and the speed of the vehicle is less than or equal to the first speed threshold, the lane change model can be determined based on the lane change control points A, E1 and C and rendered for display. Figure 8 Shown with Figure 7 Schematic diagram of the corresponding vehicle lane change scenario. The driver can Figure 7 Use the lane change guidance shown to drive the vehicle as Figure 8 The lane change is carried out according to the trajectory.

[0097] Fig. 9 Shown with Figure 5 Schematic diagram of the corresponding lane change model. When the distance between the vehicle and the front object is between the first distance threshold and the second distance threshold and the speed of the vehicle is less than or equal to the second speed threshold, the lane change model can be determined based on the lane change control points A, E3, E2 and C and rendered for display. Fig.10 Shown with Fig. 9 Schematic diagram of the corresponding vehicle lane change scenario. The driver can Fig. 9 Use the lane change guidance shown to drive the vehicle as Fig.10 The lane change is carried out according to the trajectory.

[0098] Fig.11 Shown with Figure 6 Schematic diagram of the corresponding lane change model. When the distance between the vehicle and the front object is between the second distance threshold and the third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, the lane change model can be determined based on the lane change control points A, E6, E7, D, E5, E4 and C, and rendered for display. Fig.12 Shown with Fig.11 Schematic diagram of the corresponding vehicle lane change scenario. The driver can Fig.11 Use the lane change guidance shown to drive the vehicle as Fig.12 The lane change is carried out according to the trajectory.

[0099] It can be understood that the above-mentioned vehicle distance and vehicle speed values ​​are only exemplary descriptions. When the vehicle distance or vehicle speed exceeds the above-mentioned threshold range, the above-mentioned processing process can still be applied to generate a lane change model, or an existing pre-built lane change model can be used. The present disclosure does not impose any restrictions on this.

[0100] It should be noted that although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0101] Furthermore, this example embodiment also provides a lane change model generating device.

[0102] Fig.13FIG. 1 schematically shows a block diagram of a lane change model generating device according to an exemplary embodiment of the present disclosure. Fig.13 The lane change model generating device 13 according to an exemplary embodiment of the present disclosure may include a data acquiring module 131 , a control point determining module 133 and a model generating module 135 .

[0103] Specifically, the data acquisition module 131 can be used to obtain the distance between the vehicle and the object ahead and the speed of the vehicle; the control point determination module 133 can be used to determine multiple lane change control points based on the distance between the vehicle and the object ahead and the speed of the vehicle; the model generation module 135 can be used to generate a lane change model based on multiple lane change control points.

[0104] According to an exemplary embodiment of the present disclosure, the data acquisition module 131 can be configured to execute: if the vehicle meets the lane change guidance condition, obtain the distance between the vehicle and the front object and the speed of the vehicle; wherein the lane change guidance condition includes triggering the lane change operation or the navigation guidance function is in the turned-on state.

[0105] According to an exemplary embodiment of the present disclosure, the plurality of lane change control points include a starting lane change control point, a terminating lane change control point and at least one intermediate lane change control point. In this case, the control point determination module 133 may be configured to execute: determining the near point of the display area of ​​the head-up display as the starting lane change control point; determining the terminating lane change control point according to the coordinate value of the front object along the first direction and the coordinate value of the lane centerline after the lane change along the second direction; the first direction is the vehicle's driving mode, and the second direction is a direction perpendicular to the first direction; determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle.

[0106] According to an exemplary embodiment of the present disclosure, the process of the control point determination module 133 determining at least one intermediate lane change control point can be configured to execute: if the distance between the vehicle and the object ahead is greater than or equal to a first distance threshold and the speed of the vehicle is less than or equal to a first speed threshold, then the center of the first triangle is determined as the intermediate lane change control point; wherein the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the position point where the object ahead is located.

[0107] According to an exemplary embodiment of the present disclosure, the process of the control point determination module 133 determining at least one intermediate lane change control point can also be configured to execute: if the distance between the vehicle and the object ahead is between the first distance threshold and the second distance threshold and the speed of the vehicle is less than or equal to the second speed threshold, then the incenter of the second triangle and the incenter of the third triangle are respectively determined as intermediate lane change control points; wherein the second distance threshold is less than the first distance threshold; the second speed threshold is less than the first speed threshold; the three vertices of the second triangle are respectively the terminating lane change control point, the middle point, and the first reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the middle point is the midpoint of the line connecting the starting lane change control point and the terminating lane change control point; the three vertices of the third triangle are respectively the starting lane change control point, the middle point, and the second reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the starting lane change control point along the second direction.

[0108] According to an exemplary embodiment of the present disclosure, the process of the control point determination module 133 determining at least one intermediate lane change control point can also be configured to execute: if the distance between the vehicle and the object ahead is between the second distance threshold and the third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, then the intermediate point, the incenter of the fourth triangle, the incenter of the fifth triangle, the incenter of the sixth triangle, and the incenter of the seventh triangle are respectively determined as intermediate lane change control points; wherein the third distance threshold is less than the second distance threshold; the third speed threshold is less than the second speed threshold; the three vertices of the fourth triangle are respectively the terminating lane change control point, the first sub-intermediate point, and the third reference point determined according to the coordinate value of the first sub-intermediate point along the first direction and the coordinate value of the terminating lane change control point along the second direction, and the third reference point is determined according to the coordinate value of the first sub-intermediate point along the first direction and the coordinate value of the terminating lane change control point along the second direction. The first sub-middle point is the midpoint of the line connecting the terminating lane change control point and the middle point; the three vertices of the fifth triangle are the first sub-middle point, the middle point, and the fourth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the first sub-middle point along the second direction; the three vertices of the sixth triangle are the starting lane change control point, the second sub-middle point, and the fifth reference point determined according to the coordinate value of the second sub-middle point along the first direction and the coordinate value of the starting lane change control point along the second direction, and the second sub-middle point is the midpoint of the line connecting the starting lane change control point and the middle point; the three vertices of the seventh triangle are the second sub-middle point, the middle point, and the sixth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the second sub-middle point along the second direction.

[0109] According to an exemplary embodiment of the present disclosure, the process of the control point determination module 133 determining at least one intermediate lane change control point can also be configured to execute: if the distance between the vehicle and the object ahead is between a third distance threshold and a fourth distance threshold and the speed of the vehicle is less than or equal to a fourth speed threshold, then the inner center of the first triangle is determined as the intermediate lane change control point.

[0110] According to an exemplary embodiment of the present disclosure, the model generation module 135 may be configured to perform: adjusting the model of the current head-up display according to a plurality of lane change control points in combination with a Bezier curve to generate a lane change model.

[0111] According to an exemplary embodiment of the present disclosure, the model generation module 135 may be configured to perform: scaling a plurality of lane change control points according to a scaling ratio between the real world and the head-up display model to determine a plurality of target control points; calculating Bezier curves based on the plurality of target control points to determine a plurality of curve points; and adjusting the current head-up display model using the plurality of curve points to generate a lane change model.

[0112] Since the functional modules of the lane change model generating device of the embodiment of the present disclosure are the same as those in the above-mentioned method embodiment, they will not be described in detail here.

[0113] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present disclosure described in the above "Exemplary Method" section of the present specification.

[0114] The program product for implementing the above method according to the embodiment of the present disclosure can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0115] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical disk, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0116] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0117] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0118] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0119] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0120] Those skilled in the art will appreciate that various aspects of the present disclosure may be implemented as systems, methods or program products. Therefore, various aspects of the present disclosure may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0121] Refer to the following Fig.14 1400 according to this embodiment of the present disclosure is described. Fig.14 The electronic device 1400 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0122] like Fig.14 As shown, the electronic device 1400 is in the form of a general computing device. The components of the electronic device 1400 may include, but are not limited to: the at least one processing unit 1410, the at least one storage unit 1420, a bus 1430 connecting different system components (including the storage unit 1420 and the processing unit 1410), and a display unit 1440.

[0123] The storage unit stores program codes, which can be executed by the processing unit 1410, so that the processing unit 1410 executes the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 1410 can execute various steps of the lane change model generation method of the embodiment of the present disclosure.

[0124] The storage unit 1420 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 14201 and / or a cache storage unit 14202 , and may further include a read-only storage unit (ROM) 14203 .

[0125] The storage unit 1420 may also include a program / utility 14204 having a set (at least one) of program modules 14205, such program modules 14205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0126] Bus 1430 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0127] The electronic device 1400 may also communicate with one or more external devices 1500 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 1400, and / or communicate with any device that enables the electronic device 1400 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 1450. Furthermore, the electronic device 1400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 1460. As shown, the network adapter 1460 communicates with other modules of the electronic device 1400 via a bus 1430. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 1400, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0128] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0129] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0130] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0131] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and embodiments are to be considered merely as exemplary, and the true scope and spirit of the present disclosure are indicated by the claims.

[0132] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A lane change model generation method, characterized in that: include: Obtaining the distance between the vehicle and the front object and the speed of the vehicle; determining a plurality of lane change control points based on a distance between the vehicle and the front object and a speed of the vehicle; A lane change model is generated according to the multiple lane change control points.

2. The lane change model generation method according to claim 1, characterized in that: Obtaining the distance between a vehicle and a front object and the speed of the vehicle includes: If the vehicle satisfies the lane change guidance condition, obtaining the distance between the vehicle and the front object and the speed of the vehicle; Among them, the lane change guidance condition includes triggering a lane change operation or the navigation guidance function is in an turned-on state.

3. The lane change model generation method according to claim 1, characterized in that: The multiple lane change control points include a starting lane change control point, an ending lane change control point, and at least one intermediate lane change control point; wherein, determining the multiple lane change control points in combination with the distance between the vehicle and the front object and the speed of the vehicle includes: determining a near point of a display area of ​​a head-up display as the starting lane change control point; Determine the lane change termination control point according to the coordinate value of the front object along the first direction and the coordinate value of the lane centerline after lane change along the second direction; the first direction is the driving direction of the vehicle, and the second direction is a direction perpendicular to the first direction; The at least one intermediate lane change control point is determined according to a distance between the vehicle and the front object and a speed of the vehicle.

4. The lane change model generation method according to claim 3, characterized in that: Determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle comprises: If the distance between the vehicle and the front object is greater than or equal to a first distance threshold and the speed of the vehicle is less than or equal to a first speed threshold, determining the incenter of the first triangle as the intermediate lane change control point; Among them, the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the position point where the front object is located.

5. The lane change model generation method according to claim 3, characterized in that: Determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle further includes: If the distance between the vehicle and the front object is between a first distance threshold and a second distance threshold and the speed of the vehicle is less than or equal to a second speed threshold, determining the incenter of the second triangle and the incenter of the third triangle as the intermediate lane change control point respectively; Among them, the second distance threshold is smaller than the first distance threshold; the three vertices of the second triangle are respectively the termination lane change control point, the middle point and the first reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the termination lane change control point along the second direction, and the middle point is the midpoint of the line connecting the starting lane change control point and the termination lane change control point; the three vertices of the third triangle are respectively the starting lane change control point, the middle point and the second reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the starting lane change control point along the second direction.

6. The lane change model generation method according to claim 3, characterized in that: Determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle further includes: If the distance between the vehicle and the front object is between the second distance threshold and the third distance threshold and the speed of the vehicle is less than or equal to the third speed threshold, then determining the middle point, the incenter of the fourth triangle, the incenter of the fifth triangle, the incenter of the sixth triangle, and the incenter of the seventh triangle as the middle lane change control points respectively; Among them, the third distance threshold is less than the second distance threshold; the middle point is the midpoint of the line connecting the starting lane change control point and the ending lane change control point; the three vertices of the fourth triangle are respectively the ending lane change control point, the first sub-middle point and the third reference point determined according to the coordinate value of the first sub-middle point along the first direction and the coordinate value of the ending lane change control point along the second direction, and the first sub-middle point is the midpoint of the line connecting the ending lane change control point and the middle point; the three vertices of the fifth triangle are respectively the first sub-middle point, the middle point and the third reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the first The fourth reference point is determined by the coordinate value of the sub-middle point along the second direction; the three vertices of the sixth triangle are respectively the starting lane change control point, the second sub-middle point and the fifth reference point determined according to the coordinate value of the second sub-middle point along the first direction and the coordinate value of the starting lane change control point along the second direction, and the second sub-middle point is the midpoint of the line connecting the starting lane change control point and the middle point; the three vertices of the seventh triangle are respectively the second sub-middle point, the middle point and the sixth reference point determined according to the coordinate value of the middle point along the first direction and the coordinate value of the second sub-middle point along the second direction.

7. The lane change model generation method according to claim 3, characterized in that: Determining at least one intermediate lane change control point according to the distance between the vehicle and the front object and the speed of the vehicle further includes: If the distance between the vehicle and the front object is between a third distance threshold and a fourth distance threshold and the speed of the vehicle is less than or equal to a fourth speed threshold, determining the inner center of the first triangle as the intermediate lane change control point; Among them, the three vertices of the first triangle are respectively the starting lane change control point, the ending lane change control point and the position point where the front object is located.

8. The lane change model generation method according to any one of claims 1 to 7, characterized in that: Generating a lane change model according to the plurality of lane change control points comprises: According to the multiple lane change control points and in combination with the Bezier curve, the current head-up display model is adjusted to generate the lane change model.

9. The lane change model generation method according to claim 8, characterized in that: According to the multiple lane change control points and in combination with the Bezier curve, the current head-up display model is adjusted to generate the lane change model, including: According to a scaling ratio of the real world and the head-up display model, scaling the multiple lane change control points to determine multiple target control points; Calculating the Bezier curve based on the multiple target control points to determine multiple curve points; The model of the current head-up display is adjusted using the multiple curve points to generate the lane change model.

10. A lane change model generating device, characterized in that: include: A data acquisition module, used to acquire the distance between the vehicle and the front object and the speed of the vehicle; A control point determination module, configured to determine a plurality of lane change control points in combination with a distance between the vehicle and the front object and a speed of the vehicle; A model generation module is used to generate a lane change model according to the multiple lane change control points.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the lane change model generation method according to any one of claims 1 to 9 is implemented.

12. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to implement the lane change model generation method according to any one of claims 1 to 9 by executing the executable instructions.

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