Determination method of vehicle lane-changing landing area and lane-changing information display method and device

Abstract

The invention discloses a vehicle lane changing landing area determination method and a lane changing information display method and device.The vehicle lane changing landing area comprises a preset length, a preset width, an orientation angle, a longitudinal target position and a transverse target position. Determining the current lane changing position state of the target vehicle; when the current lane changing position state is in the first position state, determining that the longitudinal target position, the transverse target position and the orientation angle are all 0; when the current lane changing position state is in a second or third position state, determining a transverse target position according to a first distance and a second distance between the target vehicle and the target lane line, and determining a target multiple of the transverse target position as a longitudinal target position, the orientation angle of the lane line at the longitudinal target position is determined as the orientation angle of the vehicle lane changing landing area, and the second distance is the fixed distance between the transverse target position and the target lane line when the target vehicle completes lane changing.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and more specifically, to a method for determining a vehicle lane change landing area, and a method and device for displaying lane change information. Background Art

[0002] With the development of intelligent driving technology, not only can automatic driving functions such as automatic forward driving, automatic lane change, and automatic parking be realized, but also prompt information of the predicted path can be displayed in the vehicle or in a mobile terminal interacting with the vehicle during driving, such as displaying prompt information on the vehicle display screen, or displaying prompt information on the front windshield based on HUD (Head up Display). However, when displaying lane change information, only a rough directional route from the current lane to the target lane is displayed, but the directional route is not intuitive and efficient enough, and the help provided to the driver for lane change operations or lane change prompts is limited. Summary of the invention

[0003] The present application provides a method for determining a vehicle lane change location area, a method and device for displaying lane change information, which can determine a vehicle lane change location area so that when displaying lane change information, more intuitive lane change prompts can be provided to the driver by adding the vehicle lane change location area.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a method for determining a vehicle lane change landing area, wherein the vehicle lane change landing area includes a preset length, a preset width, a direction angle, a longitudinal target position, and a lateral target position, wherein the positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal centerline of the vehicle and toward the front of the vehicle, and the positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal centerline of the vehicle and toward the left, and the method includes:

[0006] Determine the current lane change position of the target vehicle based on the lane line perception result and the use status of the lane change assistance function;

[0007] When the current lane-changing position state is in a first position state, determining that the longitudinal target position, the lateral target position, and the heading angle are all 0, wherein the first position state indicates that the target vehicle has not started to change lanes;

[0008] When the current lane-changing position state is in the second position state or the third position state, the lateral target position is determined according to the first distance and the second distance, the target multiple of the lateral target position is determined as the longitudinal target position, and the orientation angle of the lane line at the longitudinal target position is determined as the orientation angle of the vehicle lane-changing landing area, wherein the second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change, the third position state indicates that the target vehicle has started to change lanes, and at least a portion of the body of the target vehicle has occupied the adjacent lane, the first distance is the distance between the target vehicle and the target lane line, the second distance is the fixed distance between the lateral target position and the target lane line when the lane change of the target vehicle is completed, and the target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane.

[0009] It can be seen from the above scheme that the embodiment of the present application can first determine the current lane change position state of the target vehicle according to the lane line perception result and the usage status of the assisted lane change function, and then determine different vehicle lane change positioning areas including a preset length, a preset width, a heading angle, a longitudinal target position and a lateral target position based on different lane change position states, so that when the lane change information is subsequently displayed to the driver, by adding the vehicle lane change positioning area, the area where the target vehicle is located after the lane change can be intuitively displayed to the driver, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually, and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0010] In a first possible implementation manner of the first aspect, when the current lane change position state is in the second position state, determining the lateral target position according to the first distance and the second distance includes: determining the sum of the first distance and the second distance as the lateral target position; and / or,

[0011] When the current lane change position state is in the third position state, determining the lateral target position according to the first distance and the second distance includes: determining a difference between the second distance and the first distance as the lateral target position.

[0012] In a second possible implementation manner of the first aspect, the method further includes:

[0013] In the process of periodically calculating the position information of the vehicle's lane change landing area, when the perceived clarity of the target lane line is less than or equal to a clarity threshold, the lateral target position to be calculated in the current cycle is determined as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle, wherein the lateral movement distance of the current cycle is determined based on the current vehicle speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle.

[0014] It can be seen from the above scheme that the embodiment of the present application can determine the lateral target position of the current cycle by the difference between the lateral target position of the previous cycle and the lateral movement distance of the current cycle when the target lane line cannot be perceived or the perceived target lane line is blurred. This can not only prevent the vehicle lane change landing area from interrupting the display, but also ensure the accuracy of the lateral target position of the current cycle.

[0015] In a third possible implementation manner of the first aspect, determining the lateral movement distance of the current cycle according to the current vehicle speed, cycle duration, current front wheel steering angle, and wheelbase of the target vehicle includes:

[0016] Calculate the horizontal movement distance of the current cycle according to the target formula;

[0017] Wherein, the target formula includes:

[0018] The lateral movement distance of the current cycle=the current vehicle speed*the cycle duration*tan(the current front wheel steering angle) / the wheelbase.

[0019] In a fourth possible implementation manner of the first aspect, the method further includes:

[0020] In the process of periodically calculating the position information of the vehicle lane change landing area, when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold, the lateral target position calculated in the current cycle is updated to a target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

[0021] It can be seen from the above scheme that the embodiment of the present application can prevent sudden changes in the calculation results by controlling the difference in the lateral target position between two adjacent cycles, thereby preventing the display position of the vehicle's lane change landing area from changing suddenly, causing the driver to be prompted with an erroneous operation, thereby improving the safety of lane changes.

[0022] In a fifth possible implementation manner of the first aspect, the preset difference threshold is a preset experience value;

[0023] Alternatively, the preset difference threshold is a value determined according to the difference between the lateral target positions of a plurality of adjacent two cycles in the latest N cycles.

[0024] In a sixth possible implementation manner of the first aspect, determining the target multiple of the horizontal target position as the vertical target position includes:

[0025] Searching a multiple corresponding to the current speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between a plurality of vehicle speeds and a plurality of multiples;

[0026] The target multiple of the transverse target position is determined as the longitudinal target position.

[0027] It can be seen from the above scheme that the embodiment of the present application obtains the target multiple corresponding to the current vehicle speed by looking up a table, so that the relative size relationship between the longitudinal target position and the lateral target position displayed on the display device can be more consistent with the relative size relationship in the actual lane change and positioning environment of the target vehicle.

[0028] In a seventh possible implementation of the first aspect, determining a current lane change position state of the target vehicle according to a lane line perception result and a use state of the lane change assistance function includes:

[0029] When the use state of the lane change assistance function is that the lane change assistance function is not turned on, or the lane change is completed, or the lane change fails, the current lane change position state of the target vehicle is the first position state;

[0030] When the use state of the lane change assistance function is that the lane change assistance function is turned on, and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, determining that the current lane change position state of the target vehicle is the second position state;

[0031] When the usage status of the assisted lane change function is that the assisted lane change function is turned on, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have changed, it is determined that the current lane change position state of the target vehicle is the third position state.

[0032] In a second aspect, an embodiment of the present application provides a method for displaying lane change information, the method comprising:

[0033] Acquire a vehicle lane change location area and a predicted path for the target vehicle to change lanes to the vehicle lane change location area, wherein the vehicle lane change location area is determined according to the method described in any possible implementation manner of the first aspect;

[0034] The lane change information including the predicted path and the vehicle lane change landing area is displayed.

[0035] It can be seen from the above scheme that after obtaining the vehicle lane change landing area and the predicted path of the target vehicle changing lanes to the vehicle lane change landing area, the embodiment of the present application can intuitively show the driver the area where the target vehicle is located after the lane change by displaying lane change information including the predicted path and the vehicle lane change landing area, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0036] In a third aspect, an embodiment of the present application provides a device for determining a vehicle lane change landing area, wherein the vehicle lane change landing area includes a preset length, a preset width, a direction angle, a longitudinal target position, and a lateral target position, and the coordinate system directions to which the longitudinal target position and the lateral target position belong are consistent with the directions defined by the vehicle body coordinate system, and the device includes:

[0037] A first determination unit, configured to determine a current lane change position state of the target vehicle according to a lane line sensing result and a use state of the lane change assistance function;

[0038] a second determining unit, configured to determine that the longitudinal target position, the lateral target position, and the heading angle are all 0 when the current lane change position state is in a first position state, wherein the first position state indicates that the target vehicle has not started to change lanes;

[0039] A third determination unit is used to determine the lateral target position according to the first distance and the second distance when the current lane change position state is in the second position state or the third position state, determine the target multiple of the lateral target position as the longitudinal target position, and determine the orientation angle of the lane line at the longitudinal target position as the orientation angle of the vehicle lane change landing area, wherein the second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change, and the third position state indicates that the target vehicle has started to change lanes, and at least a part of the body of the target vehicle has occupied the adjacent lane, the first distance is the distance between the target vehicle and the target lane line, the second distance is the fixed distance between the lateral target position and the target lane line when the lane change of the target vehicle is completed, and the target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane.

[0040] In a first possible implementation of the third aspect, the third determination unit is used to determine the sum of the first distance and the second distance as the lateral target position when the current lane changing position state is in a second position state; and / or, when the current lane changing position state is in a third position state, determine the difference between the second distance and the first distance as the lateral target position.

[0041] In a second possible implementation manner of the third aspect, the device further includes:

[0042] The fourth determination unit is used to determine the lateral target position to be calculated in the current cycle as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle during the process of periodically calculating the position information of the vehicle's lane change landing area, when the clarity of the perceived target lane line is less than or equal to the clarity threshold, wherein the lateral movement distance of the current cycle is determined based on the current vehicle speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle.

[0043] In a third possible implementation manner of the third aspect, the fourth determination unit is configured to calculate the lateral movement distance of the current cycle according to a target formula;

[0044] Wherein, the target formula includes:

[0045] The lateral movement distance of the current cycle=the current vehicle speed*the cycle duration*tan(the current front wheel steering angle) / the wheelbase.

[0046] In a fourth possible implementation manner of the third aspect, the device further includes:

[0047] An updating unit is used to update the lateral target position calculated in the current cycle to a target longitudinal position when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold during the process of periodically calculating the position information of the lane change landing area of ​​the vehicle, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

[0048] In a fifth possible implementation manner of the third aspect, the preset difference threshold is a preset experience value;

[0049] Alternatively, the preset difference threshold is a value determined according to the difference between the lateral target positions of a plurality of adjacent two cycles in the latest N cycles, wherein N is a positive integer.

[0050] In a sixth possible implementation of the third aspect, the third determination unit is used to search a multiple corresponding to the current speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between multiple vehicle speeds and multiple multiples; and determine the target multiple of the lateral target position as the longitudinal target position.

[0051] In a seventh possible implementation manner of the third aspect, the first determining unit includes:

[0052] A first determining module, configured to determine that, when the use state of the lane change assistance function is that the lane change assistance function is not turned on, or the lane change is completed, or the lane change fails, the current lane change position state of the target vehicle is the first position state;

[0053] a second determination module, configured to determine that the current lane change position state of the target vehicle is the second position state when the use state of the lane change assistance function is that the lane change assistance function is turned on and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed;

[0054] The third determination module is used to determine that the current lane change position state of the target vehicle is the third position state when the usage status of the assisted lane change function is that the assisted lane change function is turned on and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have changed.

[0055] It can be seen from the above scheme that the embodiment of the present application can first determine the current lane change position state of the target vehicle according to the lane line perception result and the usage status of the assisted lane change function, and then determine different vehicle lane change positioning areas including a preset length, a preset width, a heading angle, a longitudinal target position and a lateral target position based on different lane change position states, so that when the lane change information is subsequently displayed to the driver, by adding the vehicle lane change positioning area, the area where the target vehicle is located after the lane change can be intuitively displayed to the driver, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually, and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0056] In a fourth aspect, an embodiment of the present application provides a lane change information display device, the device comprising:

[0057] an acquisition unit, configured to acquire a vehicle lane change location area and a predicted path for a target vehicle to change lanes to the vehicle lane change location area, wherein the vehicle lane change location area is determined according to the method described in any possible implementation manner of the first aspect;

[0058] The display unit is used to display lane change information including the predicted path and the vehicle lane change landing area.

[0059] It can be seen from the above scheme that after obtaining the vehicle lane change landing area and the predicted path of the target vehicle changing lanes to the vehicle lane change landing area, the embodiment of the present application can intuitively show the driver the area where the target vehicle is located after the lane change by displaying lane change information including the predicted path and the vehicle lane change landing area, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0060] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any possible implementation manner of the first aspect, or implements the method described in the second aspect.

[0061] In a sixth aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0062] one or more processors;

[0063] The processor is coupled to a storage device, and the storage device is used to store one or more programs;

[0064] When one or more programs are executed by one or more processors, the electronic device implements the method described in any possible implementation manner of the first aspect, or implements the method described in the second aspect.

[0065] In a seventh aspect, an embodiment of the present application provides a vehicle, wherein the vehicle includes a device as described in any possible implementation of the third aspect, or includes a device as described in the fourth aspect, or includes an electronic device as described in the sixth aspect.

[0066] In an eighth aspect, an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any possible implementation of the first aspect, or executes the method described in the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work.

[0068] Figure 1 A schematic flow chart of a method for determining a vehicle lane change landing zone provided in an embodiment of the present application;

[0069] Figure 2 An example diagram of position information of a vehicle lane change landing area provided in an embodiment of the present application;

[0070] Figure 3 An example diagram of position information of a lane change landing area of ​​a vehicle in a second position state provided in an embodiment of the present application;

[0071] Figure 4An example diagram of position information of a lane change landing area of ​​a vehicle in a third position state provided in an embodiment of the present application;

[0072] Figure 5 A flowchart of a lane change information display method provided in an embodiment of the present application;

[0073] Figure 6 A block diagram of a device for determining a lane change zone for a vehicle provided in an embodiment of the present application;

[0074] Figure 7 A block diagram of a lane change information display device provided in an embodiment of the present application;

[0075] Figure 8 A schematic diagram of the structure of an electronic device or computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0077] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" in the embodiments of the present application and the accompanying drawings and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0078] Figure 1 1 is a flow chart of a method for determining a vehicle lane change landing zone, which method can be applied to electronic equipment or computer equipment, and can be specifically applied to vehicles or servers, such as Figure 2 As shown, the vehicle lane change landing area includes a preset length, a preset width, a direction angle, a longitudinal target position (denoted by dx in the figure) and a lateral target position (denoted by dy in the figure). The preset length and preset width can be set according to the ratio of the vehicle body length and the vehicle body width to enhance the authenticity of the display effect. The positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal center line of the vehicle and toward the front of the vehicle. The positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal center line of the vehicle and to the left. The method may include the following steps:

[0079] S110: Determine the current lane change position state of the target vehicle according to the lane line perception result and the use status of the assisted lane change function.

[0080] When the embodiment of the present application is applied to a vehicle, the target vehicle is the vehicle itself; when the embodiment of the present application is applied to a server, the target vehicle is the vehicle that requests the server to calculate the vehicle lane change landing area position information, and when the embodiment of the present application is applied to the server, the target vehicle will send a calculation request to the server, and the calculation request will include the lane line perception results and the usage status of the assisted lane change function.

[0081] When the vehicle turns on the assisted lane change function, the vehicle can change lanes automatically. The assisted lane change function can be a separate function, that is, during the manual driving process of the driver, the assisted lane change function can be turned on to switch to automatic driving for automatic lane change; the assisted lane change function can also be a function in the automatic driving system, that is, during the automatic driving process of the vehicle, when it is detected that a lane change is needed, the assisted lane change function inside the system is started to change lanes. The usage status of the assisted lane change function includes information such as the assisted lane change function is not turned on, the assisted lane change function is turned on, and the lane change result. The lane change result includes the end of the lane change (i.e., the lane change is successful), the lane change failed, etc.

[0082] After the assisted lane change function is turned on, the vehicle's camera can collect road environment images, perceive the lane line information in the road environment images based on the lane line perception model, and obtain lane perception results.

[0083] The implementation method of determining the current lane changing position state of the target vehicle according to the lane line sensing result and the usage status of the assisted lane changing function includes: when the usage status of the assisted lane changing function is that the assisted lane changing function is not turned on, or the lane changing is completed, or the lane changing fails, the current lane changing position state of the target vehicle is a first position state; when the usage status of the assisted lane changing function is that the assisted lane changing function is turned on, and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, the current lane changing position state of the target vehicle is determined to be a second position state; when the usage status of the assisted lane changing function is that the assisted lane changing function is turned on, and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have changed, the current lane changing position state of the target vehicle is determined to be a third position state.

[0084] The current lane-changing position state of the target vehicle includes any one of a first position state, a second position state, and a third position state. The first position state indicates that the target vehicle has not started to change lanes. The second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change. The third position state indicates that the target vehicle has started to change lanes and at least a portion of the body of the target vehicle has occupied an adjacent lane.

[0085] For example, the vehicle is in the left lane 1 before changing lanes and wants to change to the left lane 2. When the target vehicle has started to change lanes but the entire vehicle is in the left lane 1, the current lane change position state of the target vehicle is the second position state; when the target vehicle has started to change lanes and part of the target vehicle is in the left lane 1 and the other part is in the left lane 2, the current lane change position state of the target vehicle is the third position state; when the target vehicle has started to change lanes and the entire target vehicle is in the left lane 2, the current lane change position state of the target vehicle is the third position state.

[0086] S120: When the current lane change position state is in the first position state, determine that the longitudinal target position, the lateral target position and the heading angle are all 0.

[0087] Among them, when the current lane change position state is in the first position state, it means that the target vehicle has not turned on the assisted lane change function and the driver has no intention to change lanes, so there is no vehicle lane change landing area, thereby determining that the longitudinal target position, lateral target position and heading angle are all 0.

[0088] S130: When the current lane change position state is in the second position state or the third position state, the lateral target position is determined according to the first distance and the second distance, the target multiple of the lateral target position is determined as the longitudinal target position, and the orientation angle of the lane line at the longitudinal target position is determined as the orientation angle of the vehicle lane change landing area.

[0089] The first distance is the distance between the target vehicle and the target lane line, which can be the distance from the center of the rear axle of the target vehicle to the target lane line. The second distance is the fixed distance between the lateral target position and the target lane line when the target vehicle completes the lane change. The target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane. The second distance can be half or nearly half of the lane width.

[0090] like Figure 3 As shown, when the current lane change position state is in the second position state, determining the lateral target position according to the first distance and the second distance includes: determining the sum of the first distance and the second distance as the lateral target position; and / or,

[0091] like Figure 4 As shown, when the current lane change position state is in the third position state, determining the lateral target position according to the first distance and the second distance includes: determining the difference between the second distance and the first distance as the lateral target position.

[0092] exist Figure 3 and Figure 4 In the figure, the first distance is represented by dy1 and the second distance is represented by dy2.

[0093] In this embodiment, the target multiple may be a fixed value or a dynamically changing value, and the value range of the target multiple may be [5, 15], depending on the actual situation.

[0094] In order to make the relative size relationship between the longitudinal target position and the lateral target position displayed on the display device more consistent with the relative size relationship in the actual lane change and landing environment of the target vehicle, the embodiment of the present application can set different multiples according to different vehicle speeds in advance, and store the mapping table containing the mapping relationship between the vehicle speed and the multiple as a configuration file in the vehicle. After the target vehicle determines the lateral target position calculated this time, the multiple corresponding to the current speed of the target vehicle can be found in the mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between multiple vehicle speeds and multiple multiples; the target multiple of the lateral target position is determined as the longitudinal target position.

[0095] In addition, when the target lane line is unclear or does not exist, resulting in the inability to calculate the lateral target position, the heading angle can be set to 0 degrees, that is, it is considered to be parallel to the front of the vehicle. When the current lane change position state is restored to the first position state, the heading angle is also cleared.

[0096] The method for determining the vehicle lane change positioning area provided in the embodiment of the present application can first determine the current lane change position state of the target vehicle based on the lane line perception result and the usage status of the assisted lane change function, and then determine different vehicle lane change positioning areas including a preset length, a preset width, a heading angle, a longitudinal target position and a lateral target position based on different lane change position states, so that when the lane change information is subsequently displayed to the driver, by adding the vehicle lane change positioning area, the area where the target vehicle is located after the lane change can be intuitively displayed to the driver, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually, and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0097] In a possible implementation, when the target vehicle cannot clearly perceive the lane lines involved in the lane change due to reasons such as dim light, obstruction by large vehicles, blurry or missing actual lane lines, etc., the vehicle's lane change positioning area cannot be accurately calculated. In order to improve the accuracy of the vehicle's lane change positioning area, in the process of periodically calculating the position information of the vehicle's lane change positioning area in the embodiment of the present application, when the clarity of the perceived target lane line is less than or equal to the clarity threshold, the lateral target position to be calculated in the current cycle is determined as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle, the target multiple of the lateral target position is determined as the longitudinal target position, and the orientation angle of the lane line at the longitudinal target position is determined as the orientation angle of the vehicle's lane change positioning area.

[0098] Among them, the time from when the vehicle or server starts calculating the lateral target position to when the specific position information of the vehicle's lane change landing area is determined is called a cycle. The lateral movement distance of the current cycle is determined based on the current speed of the target vehicle, the cycle duration, the current front wheel steering angle and wheelbase of the target vehicle. The clarity threshold can be determined based on actual experience.

[0099] In a possible implementation, the lateral movement distance of the current cycle may be calculated according to a target formula;

[0100] The target formula includes: the lateral movement distance of the current cycle = current vehicle speed * cycle length * tan (current front wheel steering angle) / wheelbase.

[0101] The wheelbase is the distance from the center of the front axle to the center of the rear axle of the vehicle. The current vehicle speed can be measured by the speed sensor in the vehicle, and the current front wheel steering angle can be measured by the steering angle sensor in the vehicle.

[0102] The embodiment of the present application can determine the lateral target position of the current cycle by the difference between the lateral target position of the previous cycle and the lateral movement distance of the current cycle when the target lane line cannot be perceived or the perceived target lane line is blurred. This can not only prevent the vehicle lane change landing area from interrupting the display, but also ensure the accuracy of the lateral target position of the current cycle.

[0103] In one possible implementation, in the process of periodically calculating the position information of the vehicle lane change landing area, when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold, the lateral target position calculated in the current cycle is updated to the target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

[0104] The preset difference threshold is a preset empirical value; or the preset difference threshold is a value determined according to the difference between the lateral target positions of two adjacent cycles in the most recent N cycles, for example, it can be the maximum value or average value of the difference between the lateral target positions of two adjacent cycles. N is a positive integer.

[0105] For example, when N=5, the current period is T i , then the 5 cycles closest to the current cycle are T i-1 、T i-2 …T i-5 , T i-1 With T i-2 The lateral target position difference between the two is 0.2m, T i-2 With T i-3 The lateral target position difference between the two is 0.1m, Ti-3 With T i-4 The lateral target position difference between the two is 0.1m, T i-4 With T i-5 The lateral target position difference between them is 0.15m, and the preset difference threshold can take the maximum value of these differences, 0.2m.

[0106] In addition, when the lane change fails, the lateral target position needs to be directly cleared to zero without judging the difference between the lateral target position calculated in the previous cycle.

[0107] The embodiment of the present application can prevent sudden changes in the calculation results by controlling the difference in the lateral target position between two adjacent cycles, thereby preventing the driver from being prompted with incorrect operations due to sudden changes in the display position of the vehicle's lane change landing area, thereby improving the safety of lane changes.

[0108] Based on the above method embodiment, another embodiment of the present application provides a lane change information display method, which can be applied to a server or a vehicle, such as Figure 5 As shown, the method includes:

[0109] S210: Obtaining a vehicle lane change location area and a predicted path for the target vehicle to change lanes to the vehicle lane change location area.

[0110] The vehicle lane change location area is determined according to the method for determining the vehicle lane change location area described in any of the above embodiments.

[0111] The predicted path may refer to the predicted path of the target vehicle changing lanes from the current position to the vehicle lane change landing area, or may refer to the predicted path of the target vehicle changing lanes from the lane change starting point to the vehicle lane change landing area.

[0112] S220: Displaying lane change information including the predicted path and the vehicle lane change landing area.

[0113] After the predicted path and the vehicle lane change location area are obtained, the predicted path and the vehicle lane change location area may be spliced, and the splicing result may be output and displayed.

[0114] Output display methods include but are not limited to: (1) display on the vehicle display screen; (2) display on the front windshield based on the HUD; (2) send lane change information to a mobile terminal (such as a mobile phone) and display it on the display screen of the mobile terminal.

[0115] The lane change information display method provided in the embodiment of the present application can intuitively show the driver the area where the target vehicle is located after the lane change by displaying the lane change information including the predicted path and the vehicle lane change location area after acquiring the vehicle lane change location area and the predicted path for the target vehicle to change lanes to the vehicle lane change location area, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0116] Corresponding to the above method embodiment, another embodiment of the present application provides a device for determining a lane change landing area of ​​a vehicle, wherein the lane change landing area of ​​the vehicle includes a preset length, a preset width, a direction angle, a longitudinal target position, and a lateral target position. The positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal centerline of the vehicle and toward the front of the vehicle. The positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal centerline of the vehicle and is to the left. Figure 6 As shown, the device comprises:

[0117] A first determination unit 310 is used to determine a current lane change position state of the target vehicle according to the lane line perception result and the use state of the lane change assistance function;

[0118] A second determining unit 320 is configured to determine that the longitudinal target position, the lateral target position, and the heading angle are all 0 when the current lane change position state is in a first position state, wherein the first position state indicates that the target vehicle has not started to change lanes;

[0119] The third determination unit 330 is used to determine the lateral target position according to the first distance and the second distance when the current lane change position state is in the second position state or the third position state, determine the target multiple of the lateral target position as the longitudinal target position, and determine the orientation angle of the lane line at the longitudinal target position as the orientation angle of the vehicle lane change landing area, wherein the second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change, and the third position state indicates that the target vehicle has started to change lanes, and at least a part of the body of the target vehicle has occupied the adjacent lane, the first distance is the distance between the target vehicle and the target lane line, the second distance is the fixed distance between the lateral target position and the target lane line when the target vehicle completes the lane change, and the target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane.

[0120] In one possible implementation, the third determination unit 330 is used to determine the sum of the first distance and the second distance as the lateral target position when the current lane change position state is in the second position state; and / or, when the current lane change position state is in the third position state, determine the difference between the second distance and the first distance as the lateral target position.

[0121] In a possible implementation manner, the device further includes:

[0122] The fourth determination unit is used to determine the lateral target position to be calculated in the current cycle as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle during the process of periodically calculating the position information of the vehicle's lane change landing area, when the clarity of the perceived target lane line is less than or equal to the clarity threshold, wherein the lateral movement distance of the current cycle is determined based on the current vehicle speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle.

[0123] In a possible implementation, the fourth determination unit is used to calculate the lateral movement distance of the current cycle according to a target formula;

[0124] Wherein, the target formula includes:

[0125] The lateral movement distance of the current cycle=the current vehicle speed*the cycle duration*tan(the current front wheel steering angle) / the wheelbase.

[0126] In a possible implementation manner, the device further includes:

[0127] An updating unit is used to update the lateral target position calculated in the current cycle to a target longitudinal position when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold during the process of periodically calculating the position information of the lane change landing area of ​​the vehicle, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

[0128] In a possible implementation, the preset difference threshold is a preset empirical value;

[0129] Alternatively, the preset difference threshold is a value determined according to the difference between the lateral target positions of a plurality of adjacent two cycles in the latest N cycles, wherein N is a positive integer.

[0130] In one possible implementation, the third determination unit 330 is used to search a multiple corresponding to the current speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between multiple speeds and multiple multiples; and determine the target multiple of the lateral target position as the longitudinal target position.

[0131] In a possible implementation, the first determining unit 310 includes:

[0132] A first determining module, configured to determine that, when the use state of the lane change assistance function is that the lane change assistance function is not turned on, or the lane change is completed, or the lane change fails, the current lane change position state of the target vehicle is the first position state;

[0133] a second determination module, configured to determine that the current lane change position state of the target vehicle is the second position state when the use state of the lane change assistance function is that the lane change assistance function is turned on and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed;

[0134] The third determination module is used to determine that the current lane change position state of the target vehicle is the third position state when the usage status of the assisted lane change function is that the assisted lane change function is turned on and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have changed.

[0135] The device for determining the vehicle lane change positioning area provided in the embodiment of the present application can first determine the current lane change position state of the target vehicle according to the lane line perception result and the usage status of the auxiliary lane change function, and then determine different vehicle lane change positioning areas including a preset length, a preset width, a heading angle, a longitudinal target position and a lateral target position based on different lane change position states, so that when the lane change information is subsequently displayed to the driver, by adding the vehicle lane change positioning area, the area where the target vehicle is located after the lane change can be intuitively displayed to the driver, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually, and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0136] Corresponding to the above method embodiment, another embodiment of the present application provides a lane change information display device, such as Figure 7 As shown, the device comprises:

[0137] An acquisition unit 410 is used to acquire a vehicle lane change location area and a predicted path for the target vehicle to change lanes to the vehicle lane change location area, wherein the vehicle lane change location area is determined according to the method for determining the vehicle lane change location area described in any of the above embodiments;

[0138] The display unit 420 is used to display the lane change information including the predicted path and the vehicle lane change landing area.

[0139] The lane change information display device provided in the embodiment of the present application can intuitively show the driver the area where the target vehicle is located after the lane change by displaying the lane change information including the predicted path and the vehicle lane change positioning area after acquiring the vehicle lane change positioning area and the predicted path for the target vehicle to change lanes to the vehicle lane change positioning area, thereby being more helpful in providing more effective lane change prompts to drivers who change lanes manually and providing more intuitive automatic lane change guidance to drivers who change lanes automatically.

[0140] Based on the above method embodiments, another embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any of the above embodiments is implemented.

[0141] Based on the above method embodiment, another embodiment of the present application provides an electronic device or a computer device, such as Figure 8 As shown, including:

[0142] one or more processors 510;

[0143] The processor 510 is coupled to a storage device 520, and the storage device 520 is used to store one or more programs;

[0144] When the one or more programs are executed by the one or more processors 510, the electronic device or computer device implements the method described in any of the above embodiments.

[0145] An embodiment of the present application provides a vehicle, which includes the device described in any of the above embodiments, or includes the electronic device described in the above embodiments.

[0146] The vehicle includes a CPU (Central Processing Unit), a T-Box (Telematics Box) and a variety of sensors, such as an image sensor, a speed sensor, a steering angle sensor, etc. Among them, the image sensor is used to collect the lane line image in front of the vehicle and sense the target lane line, the speed sensor is used to measure the current speed of the vehicle, and the steering angle sensor is used to measure the current front wheel steering angle and rear wheel steering angle. After the CPU obtains the information collected by the various sensors, it can determine the vehicle lane change location area by executing the vehicle lane change location area determination method provided in any of the above embodiments, or display the lane change information by executing the lane change information display method provided in any of the above embodiments. The CPU can also upload the information measured by these sensors to the server through the T-Box, and the server executes the above-mentioned method for determining the vehicle lane change location area provided in any of the above embodiments to determine the vehicle lane change location area and the predicted path, and sends the vehicle lane change location area and the predicted path to the T-Box, or sends the splicing result of the vehicle lane change location area and the predicted path to the T-Box, so that the T-Box transmits the lane change information including the predicted path and the vehicle lane change location area to the vehicle computer for display.

[0147] Based on the above embodiments, another embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer or a processor, the computer or the processor executes the method described in any of the above embodiments.

[0148] The above device embodiment corresponds to the method embodiment and has the same technical effect as the method embodiment. For specific description, please refer to the method embodiment. The device embodiment is obtained based on the method embodiment. For specific description, please refer to the method embodiment part, which will not be repeated here. It can be understood by those skilled in the art that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the accompanying drawings are not necessarily required to implement the present application.

[0149] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining a vehicle lane change landing zone, characterized in that: The vehicle lane change landing area includes a preset length, a preset width, a direction angle, a longitudinal target position and a lateral target position, the positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal center line of the vehicle and toward the front direction of the vehicle, and the positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal center line of the vehicle and toward the left, and the method includes: Determine the current lane change position of the target vehicle based on the lane line perception result and the use status of the lane change assistance function; When the current lane-changing position state is in a first position state, determining that the longitudinal target position, the lateral target position, and the heading angle are all 0, wherein the first position state indicates that the target vehicle has not started to change lanes; When the current lane-changing position state is in the second position state or the third position state, the lateral target position is determined according to the first distance and the second distance, the target multiple of the lateral target position is determined as the longitudinal target position, and the orientation angle of the lane line at the longitudinal target position is determined as the orientation angle of the vehicle lane-changing landing area, wherein the second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change, the third position state indicates that the target vehicle has started to change lanes, and at least a portion of the body of the target vehicle has occupied the adjacent lane, the first distance is the distance between the target vehicle and the target lane line, the second distance is the fixed distance between the lateral target position and the target lane line when the lane change of the target vehicle is completed, and the target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane.

2. The method according to claim 1, characterized in that When the current lane change position state is in the second position state, determining the lateral target position according to the first distance and the second distance includes: determining the sum of the first distance and the second distance as the lateral target position; and / or, When the current lane change position state is in the third position state, determining the lateral target position according to the first distance and the second distance includes: determining a difference between the second distance and the first distance as the lateral target position.

3. The method according to claim 1, characterized in that The method further comprises: In the process of periodically calculating the position information of the vehicle's lane change landing area, when the perceived clarity of the target lane line is less than or equal to a clarity threshold, the lateral target position to be calculated in the current cycle is determined as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle, wherein the lateral movement distance of the current cycle is determined based on the current vehicle speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle.

4. The method according to claim 3, characterized in that Determining the lateral movement distance of the current cycle according to the current speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle includes: Calculate the horizontal movement distance of the current cycle according to the target formula; Wherein, the target formula includes: The lateral movement distance of the current cycle=the current vehicle speed*the cycle duration*tan(the current front wheel steering angle) / the wheelbase.

5. The method according to claim 1, characterized in that The method further comprises: In the process of periodically calculating the position information of the vehicle lane change landing area, when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold, the lateral target position calculated in the current cycle is updated to a target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

6. The method according to claim 5, characterized in that The preset difference threshold is a preset empirical value; Alternatively, the preset difference threshold is a value determined according to the difference between the lateral target positions of a plurality of adjacent two cycles in the latest N cycles, wherein N is a positive integer.

7. The method according to claim 1, characterized in that Determining the target multiple of the horizontal target position as the vertical target position includes: Searching a multiple corresponding to the current speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between a plurality of vehicle speeds and a plurality of multiples; The target multiple of the transverse target position is determined as the longitudinal target position.

8. The method according to any one of claims 1 to 7, characterized in that According to the lane line perception results and the use status of the assisted lane change function, the current lane change position status of the target vehicle is determined, including: When the use state of the lane change assistance function is that the lane change assistance function is not turned on, or the lane change is completed, or the lane change fails, the current lane change position state of the target vehicle is the first position state; When the use state of the lane change assistance function is that the lane change assistance function is turned on, and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, determining that the current lane change position state of the target vehicle is the second position state; When the usage status of the assisted lane change function is that the assisted lane change function is turned on, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have changed, it is determined that the current lane change position state of the target vehicle is the third position state.

9. A method for displaying lane change information, characterized in that: The method comprises: Obtaining a vehicle lane change location area and a predicted path for the target vehicle to change lanes to the vehicle lane change location area, wherein the vehicle lane change location area is determined according to the method according to any one of claims 1 to 8; The lane change information including the predicted path and the vehicle lane change landing area is displayed.

10. A device for determining a vehicle lane change landing area, characterized in that: The vehicle lane change landing area includes a preset length, a preset width, a direction angle, a longitudinal target position and a lateral target position. The positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal center line of the vehicle and toward the front of the vehicle. The positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal center line of the vehicle and toward the left. The device includes: A first determination unit, configured to determine a current lane change position state of the target vehicle according to a lane line sensing result and a use state of the lane change assistance function; a second determining unit, configured to determine that the longitudinal target position, the lateral target position, and the heading angle are all 0 when the current lane change position state is in a first position state, wherein the first position state indicates that the target vehicle has not started to change lanes; A third determination unit is used to determine the lateral target position according to the first distance and the second distance when the current lane change position state is in the second position state or the third position state, determine the target multiple of the lateral target position as the longitudinal target position, and determine the orientation angle of the lane line at the longitudinal target position as the orientation angle of the vehicle lane change landing area, wherein the second position state indicates that the target vehicle has started to change lanes but the entire vehicle is in the lane before the lane change, and the third position state indicates that the target vehicle has started to change lanes, and at least a part of the body of the target vehicle has occupied the adjacent lane, the first distance is the distance between the target vehicle and the target lane line, the second distance is the fixed distance between the lateral target position and the target lane line when the lane change of the target vehicle is completed, and the target lane line is the lane line that the target vehicle needs to cross when changing lanes to the adjacent lane.

11. The device according to claim 10, characterized in that The third determination unit is used to determine the sum of the first distance and the second distance as the lateral target position when the current lane changing position state is in the second position state; and / or, when the current lane changing position state is in the third position state, determine the difference between the second distance and the first distance as the lateral target position.

12. The device according to claim 10, characterized in that The device also includes: The fourth determination unit is used to determine the lateral target position to be calculated in the current cycle as the difference between the lateral target position calculated in the previous cycle and the lateral movement distance of the current cycle during the process of periodically calculating the position information of the vehicle's lane change landing area, when the clarity of the perceived target lane line is less than or equal to the clarity threshold, wherein the lateral movement distance of the current cycle is determined based on the current vehicle speed of the target vehicle, the cycle duration, the current front wheel steering angle and the wheelbase of the target vehicle.

13. The device according to claim 12, characterized in that The fourth determining unit is used to calculate the lateral movement distance of the current cycle according to the target formula; Wherein, the target formula includes: The lateral movement distance of the current cycle=the current vehicle speed*the cycle duration*tan(the current front wheel steering angle) / the wheelbase.

14. The device according to claim 10, characterized in that The device also includes: An updating unit is used to update the lateral target position calculated in the current cycle to a target longitudinal position when the difference between the lateral target position calculated in the current cycle and the lateral target position calculated in the previous cycle is greater than a preset difference threshold during the process of periodically calculating the position information of the lane change landing area of ​​the vehicle, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous cycle is less than or equal to the preset difference threshold.

15. The device according to claim 14, characterized in that The preset difference threshold is a preset empirical value; Alternatively, the preset difference threshold is a value determined according to the difference between the lateral target positions of a plurality of adjacent two cycles in the latest N cycles, wherein N is a positive integer.

16. The device according to claim 10, characterized in that The third determination unit is used to search the multiple corresponding to the current speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table includes a one-to-one mapping relationship between multiple vehicle speeds and multiple multiples; and determine the target multiple of the lateral target position as the longitudinal target position.

17. The device according to any one of claims 10 to 16, characterized in that The first determining unit includes: A first determining module, configured to determine that, when the use state of the lane change assistance function is that the lane change assistance function is not turned on, or the lane change is completed, or the lane change fails, the current lane change position state of the target vehicle is the first position state; a second determination module, configured to determine that the current lane change position state of the target vehicle is the second position state when the use state of the lane change assistance function is that the lane change assistance function is turned on and the lane line sensing result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed; The third determination module is used to determine that the current lane change position state of the target vehicle is the third position state when the usage status of the assisted lane change function is that the assisted lane change function is turned on and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have changed.

18. A lane change information display device, characterized in that: The device comprises: an acquisition unit, used for acquiring a vehicle lane change location area and a predicted path of a target vehicle changing lanes to the vehicle lane change location area, wherein the vehicle lane change location area is determined according to the method according to any one of claims 1 to 8; The display unit is used to display lane change information including the predicted path and the vehicle lane change landing area.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented, or the method according to claim 9 is implemented.

20. An electronic device, characterized in that: The electronic device comprises: one or more processors; The processor is coupled to a storage device, and the storage device is used to store one or more programs; When the one or more programs are executed by the one or more processors, the electronic device implements the method according to any one of claims 1 to 8, or implements the method according to claim 9.

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