Doubling auxiliary method and device, vehicle and storage medium

Abstract

The invention relates to the technical field of vehicles, in particular to a doubling assistance method and device, a vehicle and a storage medium, and the method comprises the steps: obtaining an alarm signal triggered by an alarm target needing doubling assistance; if it is detected that the vehicle is in the edge lane, identifying an edge lane line of the edge lane, and identifying whether the alarm target is on one side of the edge lane line; and if the alarm target is located on one side of the edge lane line, executing a doubling auxiliary action based on the alarm signal, otherwise, determining that the alarm target is a false target, and shielding the alarm signal. Therefore, the problems that the doubling auxiliary function is misreported and triggered and the user experience is affected due to the fact that doubling auxiliary identification is inaccurate in identification of the alarm target needing doubling auxiliary in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a lane change assistance method, device, vehicle and storage medium. Background Art

[0002] With the development of the automobile industry, the process of vehicle electrification and intelligence is accelerating, and the functions required of vehicles are gradually increasing. Among them, during the driving process of the vehicle, the demand for lane recognition and lane change assistance is also increasing.

[0003] In the related art, sensors such as radar can be used to realize lane recognition and lane-changing auxiliary reminders. For example, in patent CN201610089843.2 (vehicle lane-changing auxiliary driving method and system), a vehicle lane-changing auxiliary driving method can be used, including: when the user is detected to be merging, the speed of other vehicles is detected; if the speed of other vehicles exceeds the speed of the vehicle, the driver is reminded by voice. For another example, in patent CN200980102024.5 (lane recognition system, lane recognition method and lane recognition program), a lane recognition system can be used, including: a synthetic bird's-eye image creation module, which creates a synthetic bird's-eye image by connecting multiple bird's-eye images obtained by converting corresponding local areas of original images taken at multiple different times into bird's-eye images; a candidate lane line extraction module, which detects candidate lane lines by using the original image or the bird's-eye image created by the original image and the information of the synthetic bird's-eye image; and a lane line position estimation module, which estimates the lane line position based on the information of the candidate lane line.

[0004] However, the methods in the related art may cause false triggering and false alarm of lane change assistance due to inaccurate recognition of roadside iron guardrails, iron walls, etc. (for example, recognition as parallel and stationary vehicles, etc.), thus affecting the user experience. Summary of the invention

[0005] One of the purposes of the present application is to provide a lane change assistance method to solve the problem in the related art that the lane change assistance recognition of the alarm target requiring lane change assistance is inaccurate, resulting in false alarms and false triggering of the lane change assistance function, affecting the user experience; the second purpose is to provide a lane change assistance device; the third purpose is to provide a vehicle; the fourth purpose is to provide a storage medium.

[0006] In order to achieve the above purpose, the technical solution adopted in this application is as follows:

[0007] A lane-changing assistance method comprises: obtaining an alarm signal triggered by an alarm target requiring lane-changing assistance; if it is detected that a vehicle is in an edge lane, identifying an edge lane line of the edge lane, and identifying whether the alarm target is on one side of the edge lane line; if the alarm target is on one side of the edge lane line, performing a lane-changing assistance action based on the alarm signal, otherwise determining that the alarm target is a false target and shielding the alarm signal.

[0008] According to the above-mentioned technical means, the embodiment of the present application can detect the lane in which the vehicle is located after obtaining the alarm signal triggered by the alarm target that requires lane change assistance. When the vehicle is in the edge lane, it further identifies the edge lane line and the position of the alarm target relative to the edge lane line, so as to judge whether the alarm target is a false target and choose whether to perform the lane change assistance action; thus, the embodiment of the present application can judge the implementation of the alarm target through the detection signal, reduce the difficulty of identifying false targets such as iron railings, improve the target recognition accuracy, and then reduce the false alarm rate without increasing the missed alarm rate, so that the lane change assistance triggering and alarm are more accurate, and the user experience is improved.

[0009] Further, the edge lane includes one or more of a leftmost lane of the multiple lanes, a rightmost lane of the multiple lanes, and a single lane.

[0010] According to the above technical means, the embodiment of the present application can define the edge lane, comprehensively consider the possible scenarios that may occur when the vehicle is in the edge lane, and improve the accuracy and reliability of lane recognition.

[0011] Further, the identifying of the edge lane line of the edge lane includes: if the edge lane is the leftmost lane of multiple lanes, the edge lane line is the leftmost lane line; if the edge lane is the rightmost lane of multiple lanes, the edge lane line is the rightmost lane line; if the edge lane is a single lane, the edge lane lines are the leftmost lane line and the rightmost lane line.

[0012] According to the above-mentioned technical means, the embodiments of the present application can define lane lines for different scenarios where the vehicle is in the edge lane, and improve the accuracy of edge lane line recognition, so as to facilitate the use of edge lane lines to judge the position of the alarm target, effectively eliminate false targets, reduce false alarms while reducing missed alarms, and improve the reliability of alarm target position judgment.

[0013] Further, obtaining an alarm signal triggered by an alarm target requiring lane change assistance includes: detecting a target behind the vehicle; if the target behind the vehicle is within a lane change assistance alarm range, determining that the target behind the vehicle is an alarm target requiring lane change assistance, and generating an alarm signal.

[0014] According to the above-mentioned technical means, the embodiment of the present application can utilize the determined lane change assistance alarm range to judge the target on the side and rear of the vehicle, and generate a corresponding alarm signal after determining that the target on the side and rear is an alarm target requiring lane change assistance; thereby, possible false targets can be eliminated, the accuracy of alarm target recognition can be improved, and the effectiveness of the alarm signal can be improved.

[0015] Furthermore, the line auxiliary warning range is a range where blind spots are easily formed on both sides of the vehicle.

[0016] Further, executing the lane change assistance action based on the alarm signal includes: controlling the lane change assistance component to execute an optical alarm and / or an acoustic alarm based on the alarm signal.

[0017] A lane-changing assistance device comprises: an acquisition module, used to acquire an alarm signal triggered by an alarm target requiring lane-changing assistance; an identification module, used to identify an edge lane line of the edge lane when a vehicle is detected to be in an edge lane, and to identify whether the alarm target is on one side of the edge lane line; and a control module, used to perform a lane-changing assistance action based on the alarm signal when the alarm target is on one side of the edge lane line, otherwise, determine that the alarm target is a false target and shield the alarm signal.

[0018] Furthermore, the recognition module is further used for: if the edge lane is the leftmost lane of multiple lanes, then the edge lane line is the leftmost lane line; if the edge lane is the rightmost lane of multiple lanes, then the edge lane line is the rightmost lane line; if the edge lane is a single lane, then the edge lane lines are the leftmost lane line and the rightmost lane line.

[0019] A vehicle comprises: a lane change assist controller, which controls a radar to detect a side rear target, and generates an alarm signal when the side rear target is identified as an alarm target requiring lane change assistance; a lane departure controller, which, after receiving the alarm signal, identifies an edge lane line of the edge lane if it detects that the vehicle is in an edge lane, and identifies whether the alarm target is on one side of the edge lane line; if the alarm target is on one side of the edge lane line, transmits the alarm signal to an intelligent cockpit controller assembly; otherwise, determines that the alarm target is a false target and shields the alarm signal; and an intelligent cockpit controller assembly performs a lane change assist action based on the alarm signal.

[0020] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the lane merging assistance method as described in the above embodiment.

[0021] Beneficial effects of this application:

[0022] (1) After obtaining the alarm signal triggered by the alarm target that needs lane change assistance, the embodiment of the present application can detect the lane where the vehicle is located. When the vehicle is in the edge lane, the edge lane line and the position of the alarm target relative to the edge lane line are further identified to determine whether the alarm target is a false target and choose whether to perform the lane change assistance action; thus, the embodiment of the present application can judge the presence of the alarm target through the detection signal, reduce the difficulty of identifying false targets such as iron railings, improve the accuracy of target identification, and further reduce the false alarm rate without increasing the false alarm rate, so that the lane change assistance trigger and alarm are more accurate, and the user experience is improved;

[0023] (2) The embodiment of the present application can define edge lanes, comprehensively consider the possible scenarios when the vehicle is in the edge lane, and improve the accuracy and reliability of lane recognition;

[0024] (3) The embodiment of the present application can define lane lines for different scenarios where the vehicle is in the edge lane, thereby improving the accuracy of edge lane line recognition, so as to facilitate the use of edge lane lines to determine the position of the alarm target, effectively eliminate false targets, reduce false alarms while reducing missed alarms, and improve the reliability of alarm target position determination;

[0025] (4) The embodiment of the present application can use the determined lane change assistance alarm range to judge the target behind the vehicle, and generate a corresponding alarm signal after determining that the target behind the vehicle is an alarm target that requires lane change assistance; thereby, possible false targets can be eliminated, the accuracy of alarm target recognition can be improved, and the effectiveness of the alarm signal can be improved.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of the process flow of the lane-merging assistance method of the present application;

[0028] Figure 2 A schematic diagram of the false alarm target filtering principle of the lane-joint auxiliary of the present application;

[0029] Figure 3 A schematic diagram of the system architecture for executing alarms in this application;

[0030] Figure 4 This is an example diagram of the lane-merging auxiliary device of the present application;

[0031] Figure 5 A schematic diagram of a vehicle for this application. DETAILED DESCRIPTION

[0032] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0033] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0034] With the development of the automotive industry, the process of vehicle electrification and intelligence is accelerating, the functions required for vehicles are gradually increasing, and more and more sensors are required to realize each function. However, due to vehicle costs, the number and accuracy of sensors cannot be increased indefinitely. Therefore, how to provide a more accurate and comfortable experience with limited resources is a challenge for the industry.

[0035] Among them, radar, as a sensor for intelligent driving, can use radio to measure the spatial position of targets around the vehicle; however, in essence, radar is a blind man who keeps reaching out to touch an elephant. It can sense that there is something in front of it, but when the resolution is not enough or the object has a strong reflection of radar waves, it is difficult for the radar to identify what the object in front is.

[0036] For example, in actual application, if the iron guardrails, iron walls or tunnel walls on the roadside serve as strong radar reflection sources, the radar cannot distinguish whether these targets are traveling vehicles. The corner radar will identify the iron guardrails and iron walls beside the road as traveling and relatively stationary vehicles, thereby triggering a false alarm of the lane change assistance. At this time, while blindly eliminating traveling target vehicles and reducing function false alarms, real traveling vehicles will be missed, resulting in a poor user experience.

[0037] In response to the above-mentioned background technical problems, embodiments of the present application can provide a lane change assistance method, device, vehicle and storage medium.

[0038] Specifically, Figure 1 The following is a flow chart of a line-joining assistance method provided in an embodiment of the present application. Figure 1 As shown, the line-joint assisting method comprises the following steps:

[0039] In step S101, an alarm signal triggered by an alarm target requiring lane change assistance is obtained.

[0040] It can be understood that the embodiments of the present application can obtain the alarm signal triggered by the alarm target that requires lane change assistance; wherein, the embodiments of the present application can use at least one method to achieve the acquisition of the alarm signal triggered by the alarm target that requires lane change assistance; the vehicle can use the lane change assistance controller to send an alarm signal, which is then received by the LAS (Lane Keep Assist System, lane departure controller).

[0041] Specifically, obtaining an alarm signal triggered by an alarm target requiring lane change assistance includes: detecting a target behind the vehicle; if the target behind the vehicle is within the lane change assistance alarm range, determining that the target behind the vehicle is an alarm target requiring lane change assistance, and generating an alarm signal.

[0042] Among them, the line auxiliary alarm range is the range where blind spots are easily formed on both sides of the vehicle.

[0043] It is understandable that the lane change assist controller of the embodiment of the present application can emit radar waves to detect the target behind the side of the vehicle, detect the close-range moving objects approaching or traveling in the same direction, and identify the alarm target that needs lane change assistance. Among them, when the target behind the side is detected to be within the range of the blind spot that is easy to form on both sides of the vehicle, the embodiment of the present application can consider the target as the alarm target that needs lane change assistance, and the lane change assist controller will send the alarm signal to the lane departure controller; otherwise, the target is considered not to be the alarm target that needs lane change assistance.

[0044] In step S102, if it is detected that the vehicle is in an edge lane, an edge lane line of the edge lane is identified, and it is identified whether the alarm target is on one side of the edge lane line.

[0045] The edge lanes include one or more of the leftmost lane of the multiple lanes, the rightmost lane of the multiple lanes, and a single lane.

[0046] It is understandable that if Figure 2 As shown, due to the limited recognition accuracy of the lane assist controller, when the vehicle is located in the edge lane and is close to the metal guardrail or the wall of the enclosed space, the strong reflection of the radar wave by the metal guardrail or the multiple reflections in the enclosed space may form a false target and issue an alarm; therefore, the embodiment of the present application can use the lane departure controller to judge whether the target is outside the normal driving lane line. When the vehicle is detected in the edge lane, the edge lane line is identified and it is confirmed whether the alarm target is on one side of the edge lane line. Among them, the embodiment of the present application can use at least one method to identify the edge lane line, as follows:

[0047] Specifically, identifying the edge lane line of the edge lane includes: if the edge lane is the leftmost lane of multiple lanes, the edge lane line is the leftmost lane line; if the edge lane is the rightmost lane of multiple lanes, the edge lane line is the rightmost lane line; if the edge lane is a single lane, the edge lane lines are the leftmost lane line and the rightmost lane line.

[0048] In step S103, if the alarm target is on the side of the edge lane line, a lane merging auxiliary action is performed based on the alarm signal, otherwise the alarm target is determined to be a false target and the alarm signal is shielded.

[0049] It is understandable that if Figure 3 As shown, the embodiment of the present application can utilize the lane departure controller to distinguish the position of the alarm target from the received alarm signal; when the alarm target is on the side of the edge lane line, a lane merging assistance action is performed based on the alarm signal; otherwise, the alarm signal is not forwarded, the alarm signal is shielded, and the alarm target is determined to be a false target.

[0050] Specifically, (1) when the alarm source is on the left side of the vehicle, the current lane signal is determined to determine whether the vehicle is traveling in the leftmost lane. If yes, the signal is not forwarded; if no, the signal is forwarded to the intelligent cockpit controller assembly for execution;

[0051] (2) The alarm source is on the right side of the vehicle and determines the current lane signal to see whether the vehicle is traveling in the rightmost lane. If yes, the signal is not forwarded; if no, the signal is forwarded to the intelligent cockpit controller assembly for execution.

[0052] In an embodiment of the present application, executing a lane merging assistance action based on an alarm signal includes: controlling a lane merging assistance component to execute an optical alarm and / or an acoustic alarm based on the alarm signal.

[0053] It can be understood that the embodiments of the present application can control the lane change assistance component based on the alarm signal, execute the lane change assistance function reminder, and make the lane change assistance component execute optical alarm and / or acoustic alarm; among which, the embodiments of the present application can utilize the intelligent cockpit controller assembly as the lane change assistance component for alarm.

[0054] In summary, the lane merging assistance method proposed in the embodiment of the present application has at least the following advantages:

[0055] (1) After obtaining the alarm signal triggered by the alarm target that needs lane change assistance, the embodiment of the present application can detect the lane where the vehicle is located. When the vehicle is in the edge lane, the edge lane line and the position of the alarm target relative to the edge lane line are further identified to determine whether the alarm target is a false target and choose whether to perform the lane change assistance action; thus, the embodiment of the present application can judge the presence of the alarm target through the detection signal, reduce the difficulty of identifying false targets such as iron railings, improve the accuracy of target identification, and further reduce the false alarm rate without increasing the false alarm rate, so that the lane change assistance trigger and alarm are more accurate, and the user experience is improved;

[0056] (2) The embodiment of the present application can define edge lanes, comprehensively consider the possible scenarios when the vehicle is in the edge lane, and improve the accuracy and reliability of lane recognition;

[0057] (3) The embodiment of the present application can define lane lines for different scenarios where the vehicle is in the edge lane, thereby improving the accuracy of edge lane line recognition, so as to facilitate the use of edge lane lines to determine the position of the alarm target, effectively eliminate false targets, reduce false alarms while reducing missed alarms, and improve the reliability of alarm target position determination;

[0058] (4) The embodiment of the present application can use the determined lane change assistance alarm range to judge the target behind the vehicle, and generate a corresponding alarm signal after determining that the target behind the vehicle is an alarm target that requires lane change assistance; thereby, possible false targets can be eliminated, the accuracy of alarm target recognition can be improved, and the effectiveness of the alarm signal can be improved.

[0059] Next, the line merging auxiliary device proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0060] Figure 4 4 is a block diagram of a lane-merging auxiliary device according to an embodiment of the present application.

[0061] like Figure 4 As shown, the lane change assistance device 10 includes: an acquisition module 110 , a recognition module 120 and a control module 130 .

[0062] Among them, the acquisition module 110 is used to obtain the alarm signal triggered by the alarm target that requires lane change assistance; the identification module 120 is used to identify the edge lane line of the edge lane when it is detected that the vehicle is in the edge lane, and to identify whether the alarm target is on one side of the edge lane line; the control module 130 is used to perform the lane change assistance action based on the alarm signal when the alarm target is on one side of the edge lane line, otherwise the alarm target is determined to be a false target and the alarm signal is shielded.

[0063] In an embodiment of the present application, the edge lane includes one or more of a leftmost lane of a plurality of lanes, a rightmost lane of a plurality of lanes, and a single lane.

[0064] In the embodiment of the present application, the acquisition module 110 is further used to: detect a target behind the vehicle; if the target behind the vehicle is within the lane change assistance alarm range, determine that the target behind the vehicle is an alarm target requiring lane change assistance, and generate an alarm signal.

[0065] In the embodiment of the present application, the line auxiliary warning range is the range where blind spots are easily formed on both sides of the vehicle.

[0066] In an embodiment of the present application, the identification module 120 is further used for: if the edge lane is the leftmost lane of multiple lanes, then the edge lane line is the leftmost lane line; if the edge lane is the rightmost lane of multiple lanes, then the edge lane line is the rightmost lane line; if the edge lane is a single lane, then the edge lane lines are the leftmost lane line and the rightmost lane line.

[0067] In the embodiment of the present application, the control module 130 is further used to control the lane change assistance component to execute an optical alarm and / or an acoustic alarm based on the alarm signal.

[0068] It should be noted that the above explanations and descriptions of the lane-changing assistance method embodiment are also applicable to the lane-changing assistance device of this embodiment, and will not be repeated here.

[0069] According to the lane change assistance device proposed in the embodiment of the present application, after obtaining the alarm signal triggered by the alarm target that needs lane change assistance, the lane in which the vehicle is located can be detected. When the vehicle is in the edge lane, the edge lane line and the position of the alarm target relative to the edge lane line are further identified to determine whether the alarm target is a false target and choose whether to perform the lane change assistance action; thus, the embodiment of the present application can judge the existence of the alarm target through the detection signal, reduce the difficulty of identifying false targets such as iron railings, improve the target recognition accuracy, and further reduce the false alarm rate without increasing the missed alarm rate, so that the lane change assistance triggering and alarm are more accurate, and the user experience is improved.

[0070] Figure 5 The schematic diagram of the structure of the vehicle provided in the embodiment of the present application is as follows: The vehicle 20 may include: a lane assist control 210 , a lane departure controller 220 and an intelligent cockpit controller assembly 230 .

[0071] Among them, the lane change assistance controller 210 is used to control the radar to detect the side and rear targets, and generate an alarm signal when identifying the side and rear targets as alarm targets requiring lane change assistance; the lane departure controller 220 is used to identify the edge lane line of the edge lane after receiving the alarm signal, if it is detected that the vehicle is in the edge lane, and identify whether the alarm target is on one side of the edge lane line. If the alarm target is on one side of the edge lane line, the alarm signal is transmitted to the smart cockpit controller assembly; otherwise, the alarm target is determined to be a false target and the alarm signal is shielded; the smart cockpit controller assembly 230 is used to perform lane change assistance actions based on the alarm signal.

[0072] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned line merging assistance method when executed by a processor.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0076] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0077] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A line-joint assisting method, characterized in that: The following steps are involved: Obtain the alarm signal triggered by the alarm target that needs lane change assistance; If it is detected that the vehicle is in an edge lane, the edge lane line of the edge lane is identified, and whether the alarm target is on one side of the edge lane line; If the alarm target is on one side of the edge lane line, a lane merging auxiliary action is performed based on the alarm signal; otherwise, the alarm target is determined to be a false target and the alarm signal is shielded.

2. The lane-merging assistance method according to claim 1, characterized in that: The edge lane includes one or more of a leftmost lane of the plurality of lanes, a rightmost lane of the plurality of lanes, and a single lane.

3. The lane-merging assistance method according to claim 2, characterized in that: The step of identifying the edge lane line of the edge lane comprises: If the edge lane is the leftmost lane of multiple lanes, then the edge lane line is the leftmost lane line; If the edge lane is the rightmost lane of multiple lanes, then the edge lane line is the rightmost lane line; If the edge lane is a single lane, the edge lane markings are the leftmost lane marking and the rightmost lane marking.

4. The lane-merging assistance method according to claim 1, characterized in that: Obtain the alarm signal triggered by the alarm target that needs lane change assistance, including: Detecting objects behind the vehicle; If the side rear target is within the lane change assistance alarm range, the side rear target is determined as an alarm target requiring lane change assistance, and an alarm signal is generated.

5. The lane-merging assistance method according to claim 4, characterized in that: The line auxiliary warning range is a range where blind spots are easily formed on both sides of the vehicle.

6. The lane-merging assistance method according to claim 1, characterized in that: The performing the lane-merging auxiliary action based on the alarm signal comprises: The lane change assist component is controlled to execute a visual warning and / or an acoustic warning based on the warning signal.

7. A line-joint auxiliary device, characterized in that: include: An acquisition module is used to acquire an alarm signal triggered by an alarm target that requires lane change assistance; A recognition module, for identifying an edge lane line of the edge lane when detecting that the vehicle is in an edge lane, and identifying whether the alarm target is on one side of the edge lane line; The control module is used to perform a lane-merging auxiliary action based on the alarm signal when the alarm target is on one side of the edge lane line; otherwise, the alarm target is determined to be a false target and the alarm signal is shielded.

8. The line-merging auxiliary device according to claim 7, characterized in that: The identification module is further used for: If the edge lane is the leftmost lane of multiple lanes, then the edge lane line is the leftmost lane line; If the edge lane is the rightmost lane of multiple lanes, then the edge lane line is the rightmost lane line; If the edge lane is a single lane, the edge lane markings are the leftmost lane marking and the rightmost lane marking.

9. A vehicle, characterized in that: include: A lane change assistance controller controls the radar to detect a side and rear target, and generates an alarm signal when the side and rear target is identified as an alarm target requiring lane change assistance; The lane departure controller, after receiving the alarm signal, identifies the edge lane line of the edge lane if it is detected that the vehicle is in the edge lane, and identifies whether the alarm target is on one side of the edge lane line; if the alarm target is on one side of the edge lane line, transmits the alarm signal to the smart cockpit controller assembly; otherwise, determines that the alarm target is a false target and shields the alarm signal; The intelligent cockpit controller assembly performs a lane-merging assistance action based on the alarm signal.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the lane merging assistance method as described in any one of claims 1 to 6.

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