Method for determining vehicle lane-changing and positioning area, and method and device for displaying lane-changing information

Abstract

The application discloses a method for determining a lane-changing landing area of a vehicle, a method and device for displaying lane-changing information. The lane-changing landing area of the vehicle includes a preset length, a preset width, an orientation angle, a longitudinal target position and a transverse target position. The method comprises the following steps: determining a current lane-changing position state of a target vehicle according to a lane line sensing result and a use state of an auxiliary lane-changing function; when the current lane-changing position state is in a 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 the transverse target position according to a first distance and a second distance between the target vehicle and a target lane line, determining a target multiple of the transverse target position as the longitudinal target position, and determining an orientation angle of the lane line at the longitudinal target position as the orientation angle of the lane-changing landing area of the vehicle. The second distance is a fixed distance of the transverse target position from the target lane line when the target vehicle completes lane-changing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a method for determining a lane-changing landing area of a vehicle, a method and device for displaying lane-changing information. BACKGROUND

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

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

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, the present application provides a method for determining a lane-changing landing area of a vehicle, the lane-changing landing area of the vehicle including a preset length, a preset width, an orientation angle, a longitudinal target position, and a transverse target position, the positive direction of the coordinate axis to which the longitudinal target position belongs being along the longitudinal center line of the whole vehicle and towards the head direction, the positive direction of the coordinate axis to which the transverse target position belongs being perpendicular to the left direction of the longitudinal center line of the whole vehicle, and the method comprising:

[0006] determining a current lane-changing position state of the target vehicle according to the lane line perception result and the use state of the auxiliary lane-changing function;

[0007] when the current lane-changing position state is in a first position state, determining that the longitudinal target position, the transverse target position, and the orientation angle are all 0, wherein the first position state indicates that the target vehicle has not started lane-changing;

[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, a target multiple of the lateral target position is determined as the longitudinal target position, and an orientation angle of a 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 lane changing but the whole vehicle is in the lane before lane changing, the third position state indicates that the target vehicle has started lane changing and at least a part of the vehicle body of the target vehicle has occupied the adjacent lane, the first distance is a distance between the target vehicle and a target lane line, the second distance is a fixed distance between the lateral target position and the target lane line when the target vehicle completes lane changing, and the target lane line is a lane line that needs to be crossed by the target vehicle when the target vehicle changes lanes to the adjacent lane.

[0009] According to the above scheme, the current lane-changing position state of the target vehicle can be determined according to the lane line perception result and the use state of the auxiliary lane-changing function, and different vehicle lane-changing landing areas including the preset length, the preset width, the orientation angle, the longitudinal target position and the lateral target position are determined based on different lane-changing position states, so that when the lane-changing information is displayed to the driver subsequently, the vehicle lane-changing landing area is added, the area where the target vehicle is located after lane changing can be directly displayed to the driver, and the driver who manually changes lanes can be provided with more effective lane-changing prompts, and the driver who automatically changes lanes can be provided with more intuitive automatic lane-changing guidance.

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

[0011] When the current lane-changing 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 lane-changing landing area, when the clarity of the perceived target lane line is less than or equal to a clarity threshold, the lateral target position to be calculated in a current period is determined as a difference between the lateral target position calculated in a previous period and a lateral movement distance of the current period, wherein the lateral movement distance of the current period is determined according to a current vehicle speed of the target vehicle, a period length, a current front wheel steering angle of the target vehicle and a wheelbase.

[0014] Through the above scheme, it can be known that the embodiment of the application can determine the lateral target position of the current period by the difference between the lateral target position of the last period and the lateral moving distance of the current period when the target lane line cannot be perceived or the target lane line perceived is relatively blurred, so as to not only prevent the display of the lane-changing drop zone from being interrupted, but also ensure the accuracy of the lateral target position of the current period.

[0015] In a third possible implementation manner of the first aspect, the lateral moving distance of the current period is determined according to the current vehicle speed of the target vehicle, the period length, the current front wheel steering angle of the target vehicle and the wheelbase, and includes:

[0016] The lateral moving distance of the current period is calculated according to a target formula.

[0017] The target formula includes:

[0018] The lateral moving distance of the current period = the current vehicle speed * the period length * 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 lane-changing drop zone of the vehicle, when the difference between the lateral target position calculated in the current period and the lateral target position calculated in the last period is greater than a preset difference threshold, the lateral target position calculated in the current period is updated as a target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the last period is less than or equal to the preset difference threshold.

[0021] Through the above scheme, it can be known that the embodiment of the application can prevent the sudden change of the calculation result by controlling the difference between the lateral target positions of adjacent two periods, and thus prevent the sudden change of the display position of the lane-changing drop zone of the vehicle, which brings the wrong operation prompt to the driver, so as to improve the safety of lane changing.

[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 periods in the last N periods.

[0024] In a sixth possible implementation manner of the first aspect, the target multiple of the lateral target position is determined as the longitudinal target position, including:

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

[0026] determine the target multiple of the lateral target position as the longitudinal target position.

[0027] According to the above scheme, the target multiple corresponding to the current vehicle speed is obtained by the table lookup manner, so that the relative size relationship between the longitudinal target position and the lateral target position displayed on the display device is more consistent with the relative size relationship in the actual lane changing landing environment of the target vehicle.

[0028] In a seventh possible implementation manner of the first aspect, the current lane changing position state of the target vehicle is determined according to the lane line perception result and the use state of the auxiliary lane changing function, and the determination comprises:

[0029] when the use state of the auxiliary lane changing function is that the auxiliary lane changing function is not started, or lane changing is ended, or lane changing fails, the current lane changing position state of the target vehicle is the first position state;

[0030] when the use state of the auxiliary lane changing function is that the auxiliary lane changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located do not change, the current lane changing position state of the target vehicle is determined as the second position state;

[0031] when the use state of the auxiliary lane changing function is that the auxiliary lane changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located change, the current lane changing position state of the target vehicle is determined as the third position state.

[0032] In a second aspect, the embodiments of the present application provide a lane changing information display method, and the method comprises:

[0033] obtaining a vehicle lane changing landing area and a predicted path of a target vehicle changing lanes to the vehicle lane changing landing area, wherein the vehicle lane changing landing area is determined according to the method of any possible implementation manner of the first aspect;

[0034] displaying lane changing information comprising the predicted path and the vehicle lane changing landing area.

[0035] It can be learned from the above scheme that, after obtaining the vehicle lane-changing landing area and the predicted path of the target vehicle changing lanes to the vehicle lane-changing landing area, the embodiment of the present application displays the lane-changing information including the predicted path and the vehicle lane-changing landing area, which can intuitively show the area where the target vehicle is located after lane changing to the driver, thereby providing more effective lane-changing prompt to the driver who manually changes lanes and providing more intuitive automatic lane-changing guidance to the driver who automatically changes lanes.

[0036] In a third aspect, the embodiment of the present application provides a device for determining a vehicle lane-changing landing area, the vehicle lane-changing landing area including a preset length, a preset width, an orientation angle, a longitudinal target position and a transverse target position, the coordinate system direction to which the longitudinal target position and the transverse target position belong being consistent with the direction defined by the vehicle body coordinate system, and the device including:

[0037] A first determination unit configured to determine a current lane-changing position state of a target vehicle according to a lane line perception result and a use state of an auxiliary lane-changing function.

[0038] A second determination unit configured to determine 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 first position state, wherein the first position state indicates that the target vehicle has not started lane changing.

[0039] A third determination unit configured to determine the transverse target position according to a first distance and a second distance when the current lane-changing position state is in a second position state or a third position state, determine a target multiple of the transverse target position as the longitudinal target position, and determine an orientation angle of a lane line at the longitudinal target position as the orientation angle of the vehicle lane-changing landing area, wherein the second position state indicates that the target vehicle has started lane changing but the whole vehicle is in the lane before lane changing, the third position state indicates that the target vehicle has started lane changing and at least a part of the vehicle body of the target vehicle has occupied the adjacent lane, the first distance is a distance between the target vehicle and a target lane line, the second distance is a fixed distance between the transverse target position and the target lane line when the target vehicle completes lane changing, and the target lane line is a lane line that needs to be crossed by the target vehicle when changing lanes to the adjacent lane.

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

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

[0042] a fourth determining unit, configured to, in the process of periodically calculating the position information of the lane-changing drop-off area of the vehicle, determine the lateral target position to be calculated in a current period as a difference between the lateral target position calculated in a previous period and a lateral movement distance of the current period when the perceived clarity of the target lane line is less than or equal to a clarity threshold, wherein the lateral movement distance of the current period is determined according to a current vehicle speed of the target vehicle, a period length, a current front wheel steering angle of the target vehicle, and a wheelbase.

[0043] In a third possible implementation of the third aspect, the fourth determining unit is configured to calculate the lateral movement distance of the current period according to a target formula.

[0044] The target formula includes:

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

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

[0047] an updating unit, configured to, in the process of periodically calculating the position information of the lane-changing drop-off area of the vehicle, update the lateral target position calculated in a current period to a target longitudinal position when a difference between the lateral target position calculated in the current period and the lateral target position calculated in a previous period is greater than a preset difference threshold, wherein a difference between the target longitudinal position and the lateral target position calculated in the previous period is less than or equal to the preset difference threshold.

[0048] In a fifth possible implementation of the third aspect, the preset difference threshold is a preset empirical value.

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

[0050] In a sixth possible implementation of the third aspect, the third determining unit is configured to: find, from a mapping table, a multiple corresponding to the current vehicle speed of the target vehicle 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; and determine the target multiple of the lateral target position as the longitudinal target position.

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

[0052] The first determining module is configured to determine the current lane-changing position state of the target vehicle as the first position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is not started, or the lane changing is ended, or the lane changing fails.

[0053] The second determining module is configured to determine the current lane-changing position state of the target vehicle as the second position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located do not change.

[0054] The third determining module is configured to determine the current lane-changing position state of the target vehicle as the third position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located change.

[0055] According to the above scheme, the current lane-changing position state of the target vehicle can be determined according to the lane line perception result and the use state of the auxiliary lane-changing function, and different vehicle lane-changing landing areas including the preset length, the preset width, the angle of orientation, the longitudinal target position and the lateral target position are determined based on different lane-changing position states, so that when the lane-changing information is displayed to the driver, the vehicle lane-changing landing area is added, the area where the target vehicle is located after lane changing can be directly displayed to the driver, and the driver who manually changes lanes can be provided with more effective lane-changing prompts, and the driver who automatically changes lanes can be provided with more intuitive automatic lane-changing guidance.

[0056] In a fourth aspect, an embodiment of the present application provides a lane-changing information display device, and the device comprises:

[0057] The acquisition unit is configured to acquire a vehicle lane-changing landing area and a predicted path of the target vehicle changing lanes to the vehicle lane-changing landing area, wherein the vehicle lane-changing landing area is determined according to the method in any possible implementation manner of the first aspect.

[0058] The display unit is configured to display lane-changing information including the predicted path and the vehicle lane-changing landing area.

[0059] According to the above scheme, after the vehicle lane-changing landing area and the predicted path of the target vehicle changing lanes to the vehicle lane-changing landing area are acquired, the lane-changing information including the predicted path and the vehicle lane-changing landing area is displayed, the area where the target vehicle is located after lane changing can be directly displayed to the driver, and the driver who manually changes lanes can be provided with more effective lane-changing prompts, and the driver who automatically changes lanes can be provided with more intuitive automatic lane-changing guidance.

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

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

[0062] one or more processors;

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

[0064] when the one or more programs are executed by the one or more processors, the electronic device implements the method according to any possible implementation of the method of the first aspect, or the method according to the second aspect.

[0065] In a seventh aspect, an embodiment of the present application provides a vehicle, comprising the apparatus according to any possible implementation of the apparatus of the third aspect, or comprising the apparatus according to the fourth aspect, or comprising the electronic device according to the sixth aspect.

[0066] In an eighth aspect, an embodiment of the present application provides a computer program product, having instructions therein, which, when executed on a computer or a processor, causes the computer or the processor to execute the method according to any possible implementation of the method of the first aspect, or the method according to the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0068] Figure 1 a flowchart of a method for determining a vehicle lane-changing and parking area according to an embodiment of the present application;

[0069] Figure 2 an example diagram of position information of a vehicle lane-changing and parking area according to an embodiment of the present application;

[0070] Figure 3 an example diagram of position information of a vehicle lane-changing and parking area in a second position state according to an embodiment of the present application;

[0071] Figure 4An example diagram showing the location information of the vehicle lane-changing landing area in the third position state provided in this application embodiment;

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

[0073] Figure 6 A block diagram illustrating the composition of a vehicle lane-changing landing area determination device provided in this application embodiment;

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

[0075] Figure 8 This is a schematic diagram of the structure of an electronic device or computer device provided in an embodiment of this application. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

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

[0078] Figure 1 This is a flowchart illustrating a method for determining the lane-changing landing area of ​​a vehicle. This method can be applied to electronic or computer equipment, specifically to vehicles or servers, such as… Figure 2 As shown, the vehicle lane-changing landing area includes a preset length, preset width, orientation angle, longitudinal target position (represented by dx in the figure), and lateral target position (represented by dy in the figure). The preset length and preset width can be set according to the ratio of the vehicle's length and width to enhance the realism of the display effect. The positive direction of the coordinate axis to which the longitudinal target position belongs is along the longitudinal centerline of the vehicle and points towards the front of the vehicle, while the positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the longitudinal centerline of the vehicle and points to the left. This method may include the following steps:

[0079] S110: Determine the current lane-changing position state of the target vehicle according to the lane line perception result and the use state of the auxiliary lane-changing function.

[0080] When the embodiment of the present application is applied to a vehicle, the target vehicle is the ego vehicle; when the embodiment of the present application is applied to a server, the target vehicle is a vehicle that requests the server to calculate the position information of the lane-changing landing area of the vehicle, and when the embodiment of the present application is applied to a server, the target vehicle sends a calculation request to the server, and the calculation request includes the lane line perception result and the use state of the auxiliary lane-changing function.

[0081] When the vehicle starts the auxiliary lane-changing function, the vehicle can realize automatic lane changing. The auxiliary lane-changing function can be a separate function, that is, during manual driving of the driver, the auxiliary lane-changing function can be started to change to automatic driving for automatic lane changing; the auxiliary lane-changing function can also be a function in the automatic driving system, that is, when it is detected that lane changing is needed during automatic driving of the vehicle, the auxiliary lane-changing function in the system is started for lane changing. The use state of the auxiliary lane-changing function includes information such as the auxiliary lane-changing function not being started, the auxiliary lane-changing function being started, and the lane-changing result, and the lane-changing result includes the end of lane changing (i.e., successful lane changing) and lane-changing failure.

[0082] After the auxiliary lane-changing function is started, the camera of the vehicle can collect road environment images, perceive the lane line information in the road environment images based on the lane line perception model, and obtain the lane perception result.

[0083] The implementation method for determining the current lane-changing position state of the target vehicle according to the lane line perception result and the use state of the auxiliary lane-changing function includes: when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is not started, or the end of lane changing, or lane-changing failure, the current lane-changing position state of the target vehicle is the first position state; when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, it is determined that the current lane-changing position state of the target vehicle is the second position state; when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, 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-changing position state of the target vehicle is the third position state.

[0084] Among them, the current lane-changing position state of the target vehicle includes any one of the first position state, the second position state, and the third position state. The first position state indicates that the target vehicle has not started lane changing. The second position state indicates that the target vehicle has started lane changing but the whole vehicle is in the lane before lane changing, and the third position state indicates that the target vehicle has started lane changing, and at least part of the vehicle body of the target vehicle has occupied the adjacent lane.

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

[0086] S120: When the current lane-changing position state is in the first position state, the longitudinal target position, the lateral target position, and the heading angle are all determined to be 0.

[0087] Wherein, when the current lane-changing position state is in the first position state, it means that the target vehicle does not start the auxiliary lane-changing function, and the driver has no lane-changing intention, so there is no vehicle lane-changing landing area, and thus the longitudinal target position, the lateral target position, and the heading angle are all determined to be 0.

[0088] S130: 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 heading angle of the lane line at the longitudinal target position is determined as the heading angle of the vehicle lane-changing landing area.

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

[0090] As shown in FIG. 1, Figure 3 When the current lane-changing 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] As shown in FIG. 2, Figure 4 When the current lane-changing 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] In Figure 3 and Figure 4 , the first distance is represented by dy1, and the second distance is represented by dy2.

[0093] In the embodiment, the target multiple can be a fixed value or a dynamic value, and the target multiple can be in the range of [5, 15], which is determined according to actual conditions.

[0094] 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-changing landing environment of the target vehicle, the embodiment of the application can set different multiples according to different vehicle speeds in advance, and a mapping table containing the mapping relationship between the vehicle speed and the multiple is stored in the vehicle as a configuration file. After the target vehicle determines the lateral target position of this calculation, the multiple corresponding to the current vehicle speed of the target vehicle can be found from the 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; and the target multiple of the lateral target position is determined as the longitudinal target position.

[0095] In addition, when the target lane line is not clear or does not exist, resulting in the inability to calculate the lateral target position, the orientation angle can be set to 0 degrees, that is, it is considered to be parallel to the vehicle head, and when the current lane-changing position state is restored to the first position state, the orientation angle is also cleared.

[0096] The method for determining the vehicle lane-changing landing area provided by the embodiment of the application can first determine the current lane-changing position state of the target vehicle according to the lane line perception result and the use state of the auxiliary lane-changing function, and then determine different vehicle lane-changing landing areas including the preset length, the preset width, the orientation angle, the longitudinal target position and the lateral target position based on different lane-changing position states, so that when the lane-changing information is displayed to the driver subsequently, the vehicle lane-changing landing area is increased, the area where the target vehicle is located after lane-changing can be directly displayed to the driver, thereby more effectively providing the manual lane-changing driver with lane-changing prompts and more intuitively providing the automatic lane-changing driver with automatic lane-changing guidance.

[0097] In a possible implementation, when the target vehicle cannot clearly perceive the lane line involved in the lane-changing due to reasons such as too dark light, large vehicle shielding, actual lane line blur or absence, etc., the vehicle lane-changing landing area cannot be accurately calculated. To improve the accuracy of the vehicle lane-changing landing area, in the process of periodically calculating the position information of the vehicle lane-changing landing area, 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 period is determined as the difference between the lateral target position calculated in the last period and the lateral movement distance in the current period, 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.

[0098] A cycle is defined as the period from when the vehicle or server begins calculating the lateral target position until the specific location information of the vehicle's lane-changing landing area is determined. The lateral movement distance of the current cycle is determined based on the target vehicle's current speed, cycle duration, the target vehicle's current front wheel steering angle, and wheelbase. The sharpness threshold can be determined based on practical experience.

[0099] In one possible implementation, the lateral movement distance for the current cycle can be calculated based on the target formula;

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

[0101] Wheelbase is the distance between the center of the front axle and the center of the rear axle of a 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] This application embodiment 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 blurry. This not only prevents the display of the vehicle lane changing landing area from being interrupted, but also ensures the accuracy of the lateral target position of the current cycle.

[0103] In one possible implementation, during the periodic calculation of the location information of the vehicle lane change landing area, when the difference between the lateral target position calculated in the current period and the lateral target position calculated in the previous period is greater than a preset difference threshold, the lateral target position calculated in the current period is updated to the target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous period 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 based on the differences between the lateral target positions of multiple adjacent periods in the most recent N periods. For example, it can be the maximum or average of the differences between the lateral target positions of multiple adjacent periods. N is a positive integer.

[0105] For example, when N=5, the current period is T. i Then the five periods most recent to the current period are T. i-1 T i-2 …T i-5 T i-1 With T i-2 The difference in lateral target position between them is 0.2m, T i-2 With T i-3 The difference in the lateral target position between them is 0.1m, Ti-3 The lateral target position difference between T i-4 The lateral target position difference between T i-4 The lateral target position difference between T i-5 The lateral target position difference between T

[0106] In addition, when the lane changing fails, the lateral target position needs to be directly cleared, without judging the difference between the lateral target position and the lateral target position calculated in the last period.

[0107] By controlling the lateral target position difference between two adjacent periods, the application embodiment can prevent the calculation result from being mutated, and further prevent the display position of the vehicle lane changing landing area from being mutated, which can cause the driver to be prompted to make an error operation, thereby improving the lane changing safety.

[0108] Based on the above method embodiment, another embodiment of the application provides a lane changing information display method, which can be applied to a server or a vehicle. As shown in Figure 5 The method comprises the following steps:

[0109] S210: Obtain a vehicle lane changing landing area and a predicted path of a target vehicle changing lane to the vehicle lane changing landing area.

[0110] The vehicle lane changing landing area is determined according to the vehicle lane changing landing area determination method in any of the above embodiments.

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

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

[0113] After obtaining the predicted path and the vehicle lane changing landing area, the predicted path and the vehicle lane changing landing area can be spliced, and the splicing result can be output and displayed.

[0114] The output display approaches include but are not limited to: (1) displayed on a car display screen; (2) displayed on a front windshield based on a HUD; (2) the lane changing information is sent to a mobile terminal (such as a mobile phone) and displayed on a display screen of the mobile terminal.

[0115] The lane change information display method provided by the embodiments of the present application can intuitively show the area where the target vehicle is located after the lane change to the driver, thereby providing more effective lane change prompts to the driver who manually changes lanes and more intuitive automatic lane change guidance to the driver who automatically changes lanes.

[0116] Corresponding to the method embodiments described above, another embodiment of the present application provides a vehicle lane change landing area determination device, the vehicle lane change landing area including a preset length, a preset width, an orientation angle, a longitudinal target position and a transverse target position, the positive direction of the coordinate axis to which the longitudinal target position belongs being along the longitudinal center line of the whole vehicle and towards the head direction, the positive direction of the coordinate axis to which the transverse target position belongs being perpendicular to the direction of the longitudinal center line of the whole vehicle to the left, as shown in Figure 6 The device includes:

[0117] A first determination unit 310 is configured to determine a current lane change position state of a target vehicle according to a lane line perception result and a use state of an auxiliary lane change function.

[0118] A second determination unit 320 is configured to determine that the longitudinal target position, the transverse target position and the orientation angle are all 0 when the current lane change position state is in a first position state, where the first position state indicates that the target vehicle has not started lane changing.

[0119] A third determination unit 330 is configured to determine the transverse target position according to a first distance and a second distance when the current lane change position state is in a second position state or a third position state, determine a target multiple of the transverse target position as the longitudinal target position, and determine an orientation angle of a lane line at the longitudinal target position as the orientation angle of the vehicle lane change landing area, where the second position state indicates that the target vehicle has started lane changing but the whole vehicle is in the lane before lane changing, the third position state indicates that the target vehicle has started lane changing and at least a part of the vehicle body of the target vehicle has occupied the adjacent lane, the first distance is a distance between the target vehicle and a target lane line, the second distance is a fixed distance between the transverse target position and the target lane line when the target vehicle finishes lane changing, and the target lane line is a lane line that needs to be crossed by the target vehicle when the target vehicle changes lanes to the adjacent lane.

[0120] In a possible implementation, the third determining unit 330 is configured to: when the current lane-changing position state is in the second position state, determine the sum of the first distance and the second distance as the lateral target position; 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.

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

[0122] The fourth determining unit is configured to, in the process of periodically calculating the position information of the lane-changing landing area of the vehicle, when the perceived clarity of the target lane line is less than or equal to a clarity threshold, determine the lateral target position to be calculated in a current period as the difference between the lateral target position calculated in a previous period and a lateral movement distance in the current period, wherein the lateral movement distance in the current period is determined according to a current vehicle speed of the target vehicle, a period length, a current front wheel steering angle of the target vehicle, and a wheelbase.

[0123] In a possible implementation, the fourth determining unit is configured to calculate the lateral movement distance in the current period according to a target formula.

[0124] The target formula includes:

[0125] The lateral movement distance in the current period = the current vehicle speed * the period length * tan(the current front wheel steering angle) / the wheelbase.

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

[0127] The updating unit is configured to, in the process of periodically calculating the position information of the lane-changing landing area of the vehicle, when the difference between the lateral target position calculated in a current period and the lateral target position calculated in a previous period is greater than a preset difference threshold, update the lateral target position calculated in the current period to a target longitudinal position, wherein the difference between the target longitudinal position and the lateral target position calculated in the previous period 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 in a plurality of adjacent two periods in the last N periods, wherein N is a positive integer.

[0130] In a possible implementation, the third determining unit 330 is configured to: find, from a mapping table, a multiple corresponding to a current vehicle speed of the target vehicle as the target multiple, where the mapping table comprises a one-to-one mapping relationship between a plurality of vehicle speeds and a plurality of 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 comprises:

[0132] The first determining module is configured to: when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is not started, or lane changing is ended, or lane changing fails, and the current lane-changing position state of the target vehicle is the first position state.

[0133] The second determining module is configured to: when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, determine that the current lane-changing position state of the target vehicle is the second position state.

[0134] The third determining module is configured to: when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, 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, determine that the current lane-changing position state of the target vehicle is the third position state.

[0135] The vehicle lane-changing landing area determination apparatus provided by the embodiments of the present application can first determine the current lane-changing position state of the target vehicle according to the lane line perception result and the use state of the auxiliary lane-changing function, and then determine different vehicle lane-changing landing areas comprising preset lengths, preset widths, orientation angles, longitudinal target positions, and lateral target positions based on different lane-changing position states, so that when lane-changing information is subsequently displayed to the driver, the vehicle lane-changing landing area is added, the area where the target vehicle is located after lane changing can be intuitively displayed to the driver, and the driver who manually changes lanes can be provided with more effective lane-changing prompts, and the driver who automatically changes lanes can be provided with more intuitive automatic lane-changing guidance.

[0136] Corresponding to the method embodiments, another embodiment of the present application provides a lane-changing information display apparatus, as shown in Figure 7 The apparatus comprises:

[0137] The acquisition unit 410 is configured to acquire a vehicle lane-changing landing area and a predicted path of a target vehicle changing lanes to the vehicle lane-changing landing area, where the vehicle lane-changing landing area is determined according to the vehicle lane-changing landing area determination method in any of the above embodiments.

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

[0139] The lane change information display device provided by the embodiments 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 lane change landing area of the target vehicle, thereby providing more effective lane change prompt to the driver who manually changes lanes and providing more intuitive automatic lane change guidance to the driver who automatically changes lanes.

[0140] Based on the above method embodiments, another embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, and the program is executed by a processor to implement the method according to any of the above embodiments.

[0141] Based on the above method embodiments, another embodiment of the present application provides an electronic device or a computer device, as shown in the accompanying drawings, comprising: Figure 8

[0142] one or more processors 510;

[0143] The processor 510 is coupled with a storage device 520, and the storage device 520 is configured 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 the computer device implements the method according to any of the above embodiments.

[0145] The embodiments of the present application provide a vehicle, and the vehicle comprises the device according to any of the above embodiments or the electronic device according to any of the above embodiments.

[0146] ​The vehicle includes a CPU (Central Processing Unit), a T-Box (Telematics Box), and various sensors such as an image sensor, a speed sensor, a steering angle sensor, and the like. Among them, the image sensor is used to collect lane line images in front of the vehicle and perceive target lane lines, 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, the vehicle lane change landing area can be determined by executing the vehicle lane change landing area determination method provided in any of the above embodiments, or the lane change information can be displayed by executing the lane change information display method provided in any of the above embodiments. The CPU can also upload the information measured by the sensors to the server through the T-Box, and the server can execute the vehicle lane change landing area determination method provided in any of the above embodiments to determine the vehicle lane change landing area and the predicted path, and then send the vehicle lane change landing area and the predicted path to the T-Box, or send the splicing result of the vehicle lane change landing area and the predicted path to the T-Box, so that the T-Box transmits the lane change information containing the predicted path and the vehicle lane change landing area to the vehicle machine for display.

[0147] Based on the above embodiments, another embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer or processor, cause the computer or processor to perform the method according to any of the above embodiments.

[0148] The device embodiments correspond to the method embodiments and have the same technical effects. For specific descriptions, refer to the method embodiments. The device embodiments are based on the method embodiments, and specific descriptions can be referred to the method embodiments, which will not be repeated here. Those skilled in the art can understand that the drawings are only schematic diagrams of an embodiment, and the modules or flows in the 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 embodiments can be distributed in the device in the embodiments as described in the embodiments, or can be changed and located in one or more devices different from the embodiments. The modules in the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0150] It should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing examples, it will be understood by those of ordinary skill in the art that modifications can be made to the technical solutions described in the foregoing examples, or some of the technical features thereof can be replaced by equivalent technical features. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining the landing area for a vehicle lane change, characterized in that, The vehicle lane-changing landing area includes a preset length, a preset width, an orientation angle, a longitudinal target position, and a lateral target position, a positive direction of a coordinate axis of the longitudinal target position is along a vehicle longitudinal center line and towards a vehicle head direction, a positive direction of a coordinate axis of the lateral target position is perpendicular to the vehicle longitudinal center line direction to the left, and the method includes: According to the lane line perception result and the use state of the auxiliary lane-changing function, the current lane-changing position state of the target vehicle is determined; When the current lane-changing position state is in a first position state, it is determined that the longitudinal target position, the lateral target position, and the orientation angle are all 0, wherein the first position state indicates that the target vehicle has not started lane-changing; When the current lane-changing position state is in a second position state or a third position state, the lateral target position is determined according to a first distance and a second distance, a target multiple of the lateral target position is determined as the longitudinal target position, and an orientation angle of a 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 lane-changing but the whole vehicle is in a lane before lane-changing, the third position state indicates that the target vehicle has started lane-changing, and at least a part of the vehicle body of the target vehicle has occupied an adjacent lane, the first distance is a distance between the target vehicle and a target lane line, the second distance is a fixed distance between the lateral target position and the target lane line when the target vehicle completes lane-changing, and the target lane line is a lane line that needs to be crossed when the target vehicle changes lanes to an adjacent lane.

2. The method of claim 1, wherein, When the current lane-changing position state is in the second position state, determining the lateral target position according to the first distance and the second distance includes: determining a sum of the first distance and the second distance as the lateral target position; and / or, When the current lane-changing 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 of claim 1, wherein, The method further includes: In the process of periodically calculating the position information of the vehicle lane-changing 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 a current period is determined as a difference between the lateral target position calculated in a previous period and a lateral movement distance of the current period, wherein the lateral movement distance of the current period is determined according to a current vehicle speed of the target vehicle, a period length, a current front wheel steering angle of the target vehicle, and a wheelbase.

4. The method of claim 3, wherein, Determining the lateral movement distance of the current period according to the current vehicle speed of the target vehicle, the period length, the current front wheel steering angle of the target vehicle, and the wheelbase includes: Calculating the lateral movement distance of the current period according to a target formula; The target formula includes: The lateral movement distance of the current period = the current vehicle speed * the period length * tan (the current front wheel steering angle) / the wheelbase.

5. The method of claim 1, wherein, The method further includes: In the process of periodically calculating the position information of the vehicle lane-changing landing area, when a difference between the lateral target position calculated in the current period and the lateral target position calculated in the last period is greater than a preset difference threshold, the lateral target position calculated in the current period is updated as a target longitudinal position, wherein a difference between the target longitudinal position and the lateral target position calculated in the last period is less than or equal to the preset difference threshold.

6. The method of claim 5, wherein, The preset difference threshold is a preset empirical value. Alternatively, the preset difference threshold is a value determined according to a difference between the lateral target positions of two adjacent periods in the last N periods, wherein N is a positive integer.

7. The method of claim 1, wherein, The target multiple of the lateral target position is determined as the longitudinal target position, including: Looking up a multiple corresponding to a current vehicle 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 lateral target position is determined as the longitudinal target position.

8. The method according to any one of claims 1-7, characterized in that, According to the lane line perception result and the use state of the auxiliary lane-changing function, the current lane-changing position state of the target vehicle is determined, including: When the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is not started, or the lane-changing is ended, or the lane-changing fails, the current lane-changing position state of the target vehicle is the first position state; When the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed, it is determined that the current lane-changing position state of the target vehicle is the second position state; When the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, 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-changing position state of the target vehicle is the third position state.

9. A lane change information display method characterized by comprising: The method includes: Obtaining a vehicle lane-changing landing area and a predicted path of a target vehicle changing lanes to the vehicle lane-changing landing area, wherein the vehicle lane-changing landing area is determined according to the method of any one of claims 1-8; Displaying lane-changing information including the predicted path and the vehicle lane-changing landing area.

10. A device for determining a lane change landing zone of a vehicle, characterized in that The vehicle lane-changing landing area includes a preset length, a preset width, an orientation 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 whole vehicle and towards the head direction, the positive direction of the coordinate axis to which the lateral target position belongs is perpendicular to the left direction of the longitudinal center line of the whole vehicle, and the device includes: A first determination unit configured to determine a current lane-changing position state of a target vehicle according to a lane line perception result and a use state of an auxiliary lane-changing function; A second determination unit configured to determine that the longitudinal target position, the lateral target position, and the orientation angle are all 0 when the current lane-changing position state is in a first position state, wherein the first position state indicates that the target vehicle has not started lane-changing. The third determining unit is configured to: when the current lane-changing position state is in a second position state or a third position state, determine the lateral target position according to a first distance and a second distance, determine a target multiple of the lateral target position as the longitudinal target position, and determine an orientation angle of a lane line at the longitudinal target position as an orientation angle of the vehicle lane-changing landing area, wherein the second position state indicates that the target vehicle has started lane changing but the whole vehicle is in a lane before lane changing, the third position state indicates that the target vehicle has started lane changing and at least a part of a vehicle body of the target vehicle has occupied a neighboring lane, the first distance is a distance between the target vehicle and a target lane line, the second distance is a fixed distance between the lateral target position and the target lane line when the target vehicle completes lane changing, and the target lane line is a lane line that needs to be crossed by the target vehicle when the target vehicle changes lanes to the neighboring lane.

11. The apparatus of claim 10, wherein, The third determining unit is configured to: when the current lane-changing position state is in the second position state, determine the lateral target position as a sum of the first distance and the second distance; and / or when the current lane-changing position state is in the third position state, determine the lateral target position as a difference between the second distance and the first distance.

12. The apparatus of claim 10, wherein, The device further comprises: The fourth determining unit is configured to, in a process of periodically calculating position information of the vehicle lane-changing landing area, when the perceived clarity of the target lane line is less than or equal to a clarity threshold, determine the lateral target position to be calculated in a current period as a difference between the lateral target position calculated in a previous period and a lateral movement distance of the current period, wherein the lateral movement distance of the current period is determined according to a current vehicle speed of the target vehicle, a period length, a current front wheel steering angle of the target vehicle, and a wheelbase.

13. The apparatus of claim 12, wherein, The fourth determining unit is configured to calculate the lateral movement distance of the current period according to a target formula. The target formula comprises: The lateral movement distance of the current period = the current vehicle speed * the period length * tan (the current front wheel steering angle) / the wheelbase.

14. The apparatus of claim 10, wherein, The device further comprises: The updating unit is configured to, in a process of periodically calculating position information of the vehicle lane-changing landing area, when a difference between the lateral target position calculated in a current period and the lateral target position calculated in a previous period is greater than a preset difference threshold, update the lateral target position calculated in the current period as a target longitudinal position, wherein a difference between the target longitudinal position and the lateral target position calculated in the previous period is less than or equal to the preset difference threshold.

15. The apparatus of claim 14, wherein, The preset difference threshold is a preset empirical value. Alternatively, the preset difference threshold is a value determined according to differences between the lateral target positions of a plurality of adjacent two periods in the last N periods, wherein N is a positive integer.

16. The apparatus of claim 10, wherein, The third determining unit is configured to: find a multiple corresponding to a current vehicle speed of the target vehicle from a mapping table as the target multiple, wherein the mapping table comprises a one-to-one mapping relationship between a plurality of vehicle speeds and a plurality of multiples; and determine the target multiple of the lateral target position as the longitudinal target position.

17. The apparatus of any one of claims 10-16, wherein, The first determining unit comprises: The first determining module is configured to determine the current lane-changing position state of the target vehicle as the first position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is not started, or lane changing is ended, or lane changing fails. The second determining module is configured to determine the current lane-changing position state of the target vehicle as the second position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, and the lane line perception result indicates that the left and right lane lines of the lane where the target vehicle is located have not changed. The third determining module is configured to determine the current lane-changing position state of the target vehicle as the third position state when the use state of the auxiliary lane-changing function is that the auxiliary lane-changing function is started, 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 by comprising: The device comprises: An acquisition unit configured to acquire a vehicle lane-changing landing area and a predicted path of a target vehicle changing lanes to the vehicle lane-changing landing area, wherein the vehicle lane-changing landing area is determined according to the method in any one of claims 1-8; A display unit configured to display lane-changing information comprising the predicted path and the vehicle lane-changing landing area.

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

20. An electronic device, comprising: The electronic device comprises: One or more processors; The processor is coupled with a storage device configured 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 in any one of claims 1-8, or implements the method in claim 9.

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