Driving early warning method and system for vehicle interaction behaviors and vehicle terminal

Abstract

The invention relates to the technical field of vehicle safety, and discloses a driving early warning method and system for vehicle interaction behaviors and a vehicle terminal. According to the application, an expected interaction road section between target vehicles is determined from target roads through road width information of the target roads, whether the target vehicles can complete vehicle interaction behaviors at the expected interaction road section or not is judged according to vehicle driving information corresponding to the target vehicles, and interaction early warning information is displayed to the target vehicles. The expected interaction road section is determined from the target road through the road width information of the target road, so that the target vehicle performs the vehicle interaction behavior at the expected interaction road section with the lowest interaction risk, and whether the target vehicle can complete the vehicle interaction behavior at the expected interaction road section is judged according to the vehicle driving information corresponding to the target vehicle. And the interaction early warning information is displayed, so that interaction early warning is performed on the user before the target vehicle performs the interaction behavior, risk early warning before the vehicle interaction behavior is realized, and the safety of vehicle driving is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety, and particularly to a driving warning method, system and vehicle terminal for vehicle interaction behavior. Background Art

[0002] Currently, with the rapid development of the automotive society, the sharp increase in the number of vehicles on the road has led to a significant increase in traffic density, making vehicle interaction behaviors such as overtaking, meeting and lane changing become increasingly frequent and complex. To ensure driving safety, some vehicles are equipped with driving assistance functions such as 360-degree panoramic images, which provide all-round vision assistance for drivers by real-time monitoring the vehicle's surrounding environment and avoid potential driving risks in real time.

[0003] However, the driving assistance system is still limited to detecting real-time behaviors, that is, the driving risks during vehicle interaction. The interaction behaviors between vehicles involve the dynamic driving states of multiple vehicles. Especially under harsh driving conditions such as winding mountain roads and limited visibility at night, the driving assistance function of a single vehicle is difficult to perceive and avoid dangerous behaviors between multiple vehicles in advance. Even if the driving assistance system detects an accident risk, it is difficult to avoid the accident by emergency braking. Therefore, the vehicle lacks the ability to perceive in advance before vehicle interaction behaviors, and cannot provide enough time and space for the driver to make safe decisions, affecting the safety of vehicle driving. Summary of the Invention

[0004] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. The summary is not a general review, nor is it intended to identify key / important constituent elements or delineate the protection scope of these embodiments, but rather serves as a preamble to the subsequent detailed description.

[0005] In view of the above-mentioned disadvantages of the prior art, the present application provides a driving warning method, system and vehicle terminal for vehicle interaction behavior to improve the safety of vehicle driving.

[0006] The present application provides a driving warning method for vehicle interaction behavior, including: obtaining the road width information of a target road, and obtaining the vehicle driving information corresponding to at least two target vehicles, wherein the target vehicles are all driving on the target road; determining an expected interaction section between the target vehicles from the target road according to the road width information; generating an interaction warning information according to the expected interaction section and the vehicle driving information, wherein the interaction warning information is used to represent whether the target vehicles can complete vehicle interaction behavior in the expected interaction section; and displaying the interaction warning information to any target vehicle.

[0007] In an embodiment of the present application, obtaining the road width information of the target road includes at least one of the following: extracting the number of lanes of the target road from preset map data to obtain the road width information of the target road; identifying the lane lines of the target road and judging the number of lanes of the target road according to the lane lines to generate the road width information of the target road; dividing the target road into multiple road segments and measuring the segment widths corresponding to each road segment to obtain the road width information of the target road.

[0008] In an embodiment of the present application, obtaining the vehicle driving information corresponding to at least two target vehicles includes: measuring the vehicle length and vehicle width of the target vehicle to obtain the vehicle size corresponding to the target vehicle, and measuring the vehicle distance between the target vehicles; calculating according to the corresponding relationship between the vehicle distance and time to obtain the vehicle speed corresponding to each target vehicle; taking at least one of the vehicle size, vehicle distance and vehicle speed as the vehicle driving information corresponding to the target vehicle.

[0009] In an embodiment of the present application, determining the expected interaction section between the target vehicles from the target road according to the road width information includes: determining any one of the target vehicles as the current vehicle, and determining the target vehicles other than the current vehicle as the vehicles to be interacted; if the number of lanes of the target road is multiple and the number of lanes of the target road is equal to the number of vehicles to be interacted, determining the interaction positions between the vehicles to be interacted from the target road according to the vehicle speed and vehicle distance corresponding to the vehicles to be interacted; determining the target road between the vehicle position corresponding to the current vehicle and the interaction position as the expected interaction section corresponding to the current vehicle.

[0010] In an embodiment of the present application, generating an interaction warning information according to the expected interaction section and the vehicle driving information includes: calculating according to the vehicle speed corresponding to the current vehicle, the vehicle speed corresponding to the vehicle to be interacted, and the vehicle distance between the current vehicle and the vehicle to be interacted to predict the expected driving parameters before the current vehicle and the vehicle to be interacted complete the interaction action, wherein the expected driving parameters include expected vehicle speed and / or expected acceleration; if the expected driving parameters meet the preset safety threshold interval, setting the interaction warning information as that the target vehicle can complete the vehicle interaction behavior in the expected interaction section; if the expected driving parameters do not meet the safety threshold interval, setting the interaction warning information as that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

[0011] In an embodiment of the present application, determining an expected interaction section between the target vehicles from the target road according to the road width information includes: obtaining an expected meeting angle of the target vehicles on the target road; calculating the vehicle width corresponding to each target vehicle according to the expected meeting angle to obtain an expected interaction width, and calculating the vehicle length corresponding to each target vehicle according to the expected meeting angle to obtain an expected interaction length; if the section width corresponding to each road section in the target road is greater than or equal to the expected interaction width, determining the target road as the expected interaction section; if there is a road section with a section width less than the expected interaction width, determining an alternative section with a section width greater than or equal to the expected interaction width from the road section, so as to form an alternative road section through consecutive alternative sections; if the section length of any alternative road section is greater than or equal to the expected interaction length, determining the alternative road section as the expected interaction section; if the section lengths of all the alternative road sections are less than the expected interaction length, there is no expected interaction section in the target road.

[0012] In an embodiment of the present application, generating an interaction warning information according to the expected interaction section and the vehicle driving information includes: calculating according to the vehicle speed corresponding to the target vehicle and the vehicle spacing between the target vehicles to predict the expected driving parameters of the target vehicle before reaching the expected interaction section; if the expected driving parameters meet a preset safety threshold range, setting the interaction warning information as that the target vehicle can complete the vehicle interaction behavior in the expected interaction section; if the expected driving parameters do not meet the safety threshold range, setting the interaction warning information as that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

[0013] In an embodiment of the present application, displaying the interaction warning information to any target vehicle includes: performing target detection on the target road to determine the appearance frequency of the reference objects in the target road according to the target detection result, where the reference objects include driving obstacles, vision blockers and target curves, and the target curve is a turning area with a turning angle greater than a preset angle threshold; if the appearance frequency of the reference objects is greater than or equal to a preset frequency threshold, displaying the interaction warning information to any target vehicle.

[0014] The present application provides a driving warning system for vehicle interaction behaviors, including: an acquisition module configured to acquire road width information of a target road and acquire vehicle driving information corresponding to at least two target vehicles, wherein the target vehicles are all driving on the target road; a determination module configured to determine an expected interaction section between the target vehicles from the target road according to the road width information; a generation module configured to generate an interaction warning message according to the expected interaction section and the vehicle driving information, wherein the interaction warning message is used to represent whether the target vehicles can complete vehicle interaction behaviors in the expected interaction section; and a display module configured to display the interaction warning message to any target vehicle.

[0015] The present application provides a vehicle terminal, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory so that the vehicle terminal executes the above method.

[0016] Advantages of the present application:

[0017] If there are multiple target vehicles on the target road, an expected interaction section between the target vehicles is determined from the target road according to the road width information of the target road, and it is judged whether the target vehicles can complete vehicle interaction behaviors in the expected interaction section according to the vehicle driving information corresponding to the target vehicles, and the interaction warning message is displayed to the target vehicles. In this way, compared with detecting risks during vehicle interaction behaviors, not only is the expected interaction section determined from the target road according to the road width information of the target road, so that the target vehicles perform vehicle interaction behaviors in the expected interaction section with the lowest interaction risks, but also it is judged whether the target vehicles can complete vehicle interaction behaviors in the expected interaction section according to the vehicle driving information corresponding to the target vehicles, and the interaction warning message is displayed, so as to give an interaction warning to the user before the target vehicles perform interaction behaviors, thereby realizing risk warning before vehicle interaction behaviors and improving the safety of vehicle driving. Description of the Drawings

[0018] Figure 1 is a flowchart of a driving warning method for vehicle interaction behaviors in an embodiment of the present application;

[0019] Figure 2 is a flowchart of another driving warning method for vehicle interaction behaviors in an embodiment of the present application;

[0020] Figure 3 is a flowchart of another driving warning method for vehicle interaction behaviors in an embodiment of the present application;

[0021] Figure 4 is a structural diagram of a driving warning system for vehicle interaction behaviors in an embodiment of the present application;

[0022] Figure 5 It is a schematic structural diagram of a vehicle terminal in an embodiment of the present invention. Specific embodiments

[0023] The following uses specific examples to illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0024] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0025] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0026] In the specification, claims, and above-mentioned drawings of the embodiments of the present disclosure, terms such as "first" and "second" are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0027] Unless otherwise stated, the term "plurality" means two or more.

[0028] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0029] The term "and / or" is a description of the association relationship of objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B these three relationships.

[0030] Combine Figure 1As shown in the figure, an embodiment of the present disclosure provides a driving warning method for vehicle interaction behavior, including:

[0031] Step S101, obtain the road width information of the target road, and obtain the vehicle driving information corresponding to at least two target vehicles;

[0032] Among them, the target vehicles are all driving on the target road;

[0033] Step S102, determine the expected interaction section between the target vehicles from the target road according to the road width information;

[0034] Step S103, generate an interaction warning message according to the expected interaction section and the vehicle driving information;

[0035] Among them, the interaction warning message is used to represent whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section;

[0036] Step S104, display the interaction warning message to any target vehicle.

[0037] By using the driving warning method for vehicle interaction behavior provided by the embodiment of the present disclosure, if there are multiple target vehicles on the target road, the expected interaction section between the target vehicles is determined from the target road through the road width information of the target road, and it is judged whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section according to the vehicle driving information corresponding to the target vehicle, and the interaction warning message is displayed to the target vehicle. In this way, compared with detecting risks during the vehicle interaction behavior, not only the expected interaction section is determined from the target road through the road width information of the target road, so that the target vehicle conducts vehicle interaction behavior in the expected interaction section with the lowest interaction risk, but also it is judged whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section according to the vehicle driving information corresponding to the target vehicle, and the interaction warning message is displayed, so as to give an interaction warning to the user before the target vehicle conducts the interaction behavior, thereby realizing risk warning before the vehicle interaction behavior and improving the safety of vehicle driving.

[0038] Optionally, obtaining the road width information of the target road includes at least one of the following: extracting the number of lanes of the target road from the preset map data to obtain the road width information of the target road; identifying the lane lines of the target road and judging the number of lanes of the target road according to the lane lines to generate the road width information of the target road; dividing the target road into multiple road segments and measuring the segment widths corresponding to each road segment to obtain the road width information of the target road.

[0039] In some embodiments, any one of the target vehicles is used as the current vehicle.

[0040] In some embodiments, the current vehicle is provided with high-precision map data, and the current vehicle can retrieve the number of lanes of the road from the preset map data. For example, if the map data shows that the target road has 4 lanes and the standard width of each lane is 3.75 meters, then the number of lanes of the target road, which is 4, is used as the road width information of the target road.

[0041] In some embodiments, using image processing technology and machine learning algorithms, an image of the target road where the current vehicle is located is captured through a camera or satellite image, and the lane lines in the image are automatically recognized. For example, if it is recognized that there are 2 solid yellow lines and 1 dashed white line in the target road, and the dashed white line is located between the solid yellow lines, then the number of lanes of the target road is determined to be 2 based on the arrangement and number of the lane lines.

[0042] In some embodiments, the road boundaries of the target road are recognized through vehicle sensors such as image sensors, lidar sensors, and ultrasonic radar sensors, and the distance between the road boundaries is determined based on the collected sensor data to obtain the road width.

[0043] Optionally, vehicle driving information corresponding to at least two target vehicles is obtained, including: measuring the vehicle length and vehicle width of the target vehicle to obtain the vehicle size corresponding to the target vehicle, and measuring the vehicle spacing between the target vehicles; calculating according to the corresponding relationship between the vehicle spacing and time to obtain the vehicle speed corresponding to each target vehicle; taking at least one of the vehicle size, vehicle spacing, and vehicle speed as the vehicle driving information corresponding to the target vehicle.

[0044] In some embodiments, the current vehicle is provided with a millimeter-wave radar sensor. The operating frequency of this millimeter-wave radar sensor is 77 GHz (gigahertz), which has good penetration and anti-interference performance and can provide accurate measurement results in various weather and environments. Among them, the millimeter-wave radar sensor is installed in the front of the current vehicle, and its emission direction is consistent with the vehicle driving direction, and experiments are carried out according to the actual application environment and driving requirements to set the operating parameters of the millimeter-wave radar sensor, such as transmission power, receiving sensitivity, signal processing gain, etc.

[0045] In some embodiments, the target vehicle traveling in the same direction as the current vehicle is regarded as the same-direction traveling vehicle, and the target vehicle traveling in the opposite direction to the current vehicle is regarded as the opposite-direction traveling vehicle; a millimeter-wave signal is emitted through the millimeter-wave radar sensor of the current vehicle, and the time period from the emission of the millimeter-wave signal to the reception of the millimeter-wave signal reflected by the same-direction traveling vehicle is denoted as T1, then the vehicle distance between the current vehicle and the same-direction traveling vehicle Denote the time period from transmitting a millimeter-wave signal to receiving the millimeter-wave signal reflected by the oncoming vehicle as T3, then the vehicle distance between the current vehicle and the oncoming vehicle where c is the propagation speed corresponding to the millimeter-wave signal; the millimeter-wave radar sensor of the current vehicle transmits a millimeter-wave signal again in the next transmission period T0; denote the time period from transmitting the millimeter-wave signal to receiving the millimeter-wave signal reflected by the vehicle traveling in the same direction as T2, then the vehicle distance between the current vehicle and the vehicle traveling in the same direction Denote the time period from transmitting a millimeter-wave signal to receiving the millimeter-wave signal reflected by the oncoming vehicle as T4, then the vehicle distance between the current vehicle and the oncoming vehicle Calculate based on the vehicle distance and the transmission period T0 to obtain the vehicle speed of the vehicle traveling in the same direction The vehicle speed of the oncoming vehicle Take the vehicle distance and vehicle speed as vehicle driving information.

[0046] In some embodiments, calculate based on the vehicle distance D2 between the current vehicle and the vehicle traveling in the same direction and the vehicle distance D4 between the current vehicle and the oncoming vehicle to obtain the vehicle distance D5 between the vehicle traveling in the same direction and the oncoming vehicle.

[0047] In some embodiments, model the vehicle traveling in the same direction and the oncoming vehicle through the millimeter-wave signal obtained by the millimeter-wave radar sensor, so as to determine the vehicle length and vehicle width of each vehicle according to the modeling result.

[0048] Optionally, determining an expected interaction section between target vehicles from a target road according to road width information includes: determining any target vehicle as the current vehicle, and determining the target vehicles other than the current vehicle as the vehicles to be interacted with; if the number of lanes of the target road is multiple and the number of lanes of the target road is equal to the number of vehicles to be interacted with, then determine the interaction positions between the vehicles to be interacted with from the target road according to the vehicle speeds and vehicle spacings corresponding to the vehicles to be interacted with; determine the target road between the vehicle position corresponding to the current vehicle and the interaction position as the expected interaction section corresponding to the current vehicle.

[0049] In some embodiments, if the vehicles to be interacted with include a vehicle traveling in the same direction and an oncoming vehicle, and the number of vehicles on the target road is two, then calculate the meeting time between the vehicle traveling in the same direction and the oncoming vehicle Therefore, the oncoming vehicle and the vehicle traveling in the opposite direction will perform a passing behavior after the passing time t0. The position where the oncoming vehicle and the vehicle traveling in the opposite direction pass each other is taken as the interaction position, and the target road between the vehicle position corresponding to the current vehicle and the interaction position is determined as the expected interaction section, ensuring that the current vehicle completes the overtaking behavior of the oncoming vehicle within the passing time t0.

[0050] Optionally, an interaction warning message is generated according to the expected interaction section and the vehicle driving information, including: calculating based on the vehicle speed corresponding to the current vehicle, the vehicle speed corresponding to the vehicle to be interacted with, and the vehicle distance between the current vehicle and the vehicle to be interacted with, so as to predict the expected driving parameters before the current vehicle and the vehicle to be interacted with complete the interaction action, where the expected driving parameters include the expected vehicle speed and / or the expected acceleration; if the expected driving parameters meet the preset safety threshold range, the interaction warning message is set to that the target vehicle can complete the vehicle interaction behavior in the expected interaction section; if the expected driving parameters do not meet the safety threshold range, the interaction warning message is set to that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

[0051] In some embodiments, the time required for the current vehicle to catch up with the oncoming vehicle and complete the overtaking behavior At the same time, it is necessary to satisfy t1 < t0. Therefore, by solving for V0, the minimum value obtained by solving V0 is taken as the expected vehicle speed, and the expected acceleration corresponding to the vehicle acceleration a0 is determined according to the expected vehicle speed; if both the expected vehicle speed and the expected acceleration meet the safety threshold range, it is determined that the current vehicle can complete the overtaking behavior of the oncoming vehicle within the time t0, that is, the current vehicle can complete the vehicle interaction behavior in the expected interaction section, and the current vehicle is prompted to overtake; if the expected vehicle speed or the expected acceleration does not meet the safety threshold range, the current vehicle is prompted not to overtake.

[0052] Combined with Figure 2 As shown, the embodiments of the present disclosure provide a driving warning method for vehicle interaction behavior, including:

[0053] Step S201, obtain the number of lanes of the target road and obtain the number of vehicles to be interacted with;

[0054] Step S202, determine whether the number of lanes of the target road is multiple. If so, jump to step S203; if not, jump to step S201;

[0055] Step S203, determine whether the number of lanes of the target road is equal to the number of vehicles to be interacted with. If so, jump to step S204; if not, jump to step S201;

[0056] Step S204: Determine the interaction positions between the vehicles to be interacted based on the vehicle speed and vehicle spacing corresponding to the vehicles to be interacted from the target road;

[0057] Step S205: Determine the target road between the vehicle position corresponding to the current vehicle and the interaction position as the expected interaction section corresponding to the current vehicle;

[0058] Step S206: Calculate based on the vehicle speed corresponding to the target vehicle and the vehicle spacing between the target vehicles to predict the expected driving parameters of the target vehicle before reaching the expected interaction section;

[0059] Among them, the expected driving parameters include the expected vehicle speed and / or the expected acceleration;

[0060] Step S207: Determine whether the expected driving parameters meet the safety threshold range. If so, jump to Step S208; if not, jump to Step S209;

[0061] Step S208: Set the interaction warning information so that the target vehicle can complete the vehicle interaction behavior in the expected interaction section.

[0062] Step S209: Set the interaction warning information so that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

[0063] Using the driving warning method for vehicle interaction behavior provided by the embodiments of the present disclosure, if there are multiple target vehicles on the target road, determine the expected interaction section between the target vehicles from the target road through the road width information of the target road, and judge whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section according to the vehicle driving information corresponding to the target vehicle, and display the interaction warning information to the target vehicle. In this way, compared with detecting risks during the vehicle interaction behavior, not only determine the expected interaction section from the target road through the road width information of the target road, so that the target vehicle performs the vehicle interaction behavior in the expected interaction section with the lowest interaction risk, but also judge whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section according to the vehicle driving information corresponding to the target vehicle, and display the interaction warning information to give an interaction warning to the user before the target vehicle performs the interaction behavior, so as to realize the risk warning before the vehicle interaction behavior and improve the safety of vehicle driving.

[0064] Optionally, determining an expected interaction section between target vehicles from a target road according to road width information includes: obtaining an expected passing angle of the target vehicles on the target road; calculating the vehicle width corresponding to each target vehicle according to the expected passing angle to obtain an interaction expected width, and calculating the vehicle length corresponding to each target vehicle according to the expected passing angle to obtain an interaction expected length; if the section width corresponding to each road section in the target road is greater than or equal to the interaction expected width, determining the target road as the expected interaction section; if there is a road section with a section width less than the interaction expected width, determining alternative sections with a section width greater than or equal to the interaction expected width from the road sections, so as to form an alternative section through consecutive alternative sections; if the section length of any alternative section is greater than or equal to the interaction expected length, determining the alternative section as the expected interaction section; if the section lengths of all alternative sections are less than the interaction expected length, there is no expected interaction section on the target road.

[0065] In some embodiments, since there are single-lane roads on some winding mountain roads and it is impossible to determine whether the target vehicles can complete the interaction behavior based on the number of lanes, the target road needs to be divided into n road sections, and the section widths corresponding to the n road sections are respectively denoted as d1, d2, d3,..., d n-1 、d n 。

[0066] In some embodiments, if the target vehicles include a current vehicle and a vehicle traveling in the opposite direction, and the target road is a straight road, the current vehicle and the vehicle traveling in the opposite direction are moving towards each other, the interaction expected width is the sum of the vehicle width W0 of the current vehicle, the vehicle width W1 of the vehicle traveling in the opposite direction, and a preset width redundancy; at the same time, the interaction expected length is the sum of the vehicle length L0 of the current vehicle and the vehicle length L1 of the vehicle traveling in the opposite direction; if d1, d2, d3,..., d n-1 、d n are all greater than or equal to the interaction expected width, the current vehicle and the vehicle traveling in the opposite direction can complete the passing behavior at any section of the target road; if there are some section widths in d1, d2, d3,..., d n-1 、d n less than the interaction expected width, then determine the section widths d n-1 、d n greater than or equal to the interaction expected width from d1, d2, d3,..., d k 、d k+1 、d k+2 、...、d m-1 、d m ,and d k 、d k+1 、d k+2 、...、dm-1 and d m If the corresponding road segments are continuous, then based on d k and d k+1 and d k+2 and... and d m-1 and d m combine the corresponding road segments to form alternative road segments, where both k and m are positive integers from 1 to n, and k < m; if the length of the alternative road segment is greater than or equal to the expected interaction length, then use this alternative road segment as the expected interaction road segment.

[0067] In some embodiments, if the target vehicle includes a current vehicle and a vehicle traveling in the opposite direction, and the target road is a turning road, then obtain the expected meeting angle θ of the current vehicle and the vehicle traveling in the opposite direction when on the turning road, where the expected meeting angle θ is not a single angle parameter but varies at different positions on the turning road; calculate the vehicle width and vehicle length based on the expected meeting angle θ to determine the minimum interaction width and minimum interaction length of the target vehicle when performing a meeting behavior on the turning road. The expected interaction width is the sum of the minimum interaction width of the current vehicle, the minimum interaction width of the vehicle traveling in the opposite direction, and a preset width redundancy. At the same time, the interaction expected length is the sum of the minimum interaction length of the current vehicle, the minimum interaction length of the vehicle traveling in the opposite direction, and a preset width redundancy; if a continuous part of the road segments on the target road meets the expected interaction width and the interaction expected length, then determine this part of the road segments as the expected interaction road segment.

[0068] Optionally, generate an interaction warning message based on the expected interaction road segment and vehicle travel information, including: calculate based on the vehicle speed corresponding to the target vehicle and the vehicle distance between the target vehicles to predict the expected driving parameters of the target vehicles before reaching the expected interaction road segment; if the expected driving parameters meet the preset safety threshold range, then set the interaction warning message to indicate that the target vehicles can complete the vehicle interaction behavior on the expected interaction road segment; if the expected driving parameters do not meet the safety threshold range, then set the interaction warning message to indicate that the target vehicles cannot complete the vehicle interaction behavior on the expected interaction road segment.

[0069] In some embodiments, if there is no expected interaction road segment on the target road, then set the interaction warning message to indicate that the target vehicles cannot complete the vehicle interaction behavior on the expected interaction road segment.

[0070] Combined with Figure 3 as shown, the embodiments of the present disclosure provide a driving warning method for vehicle interaction behavior, including:

[0071] Step S301, obtain the number of lanes of the target road;

[0072] Step S302: Determine whether the number of lanes of the target road is single. If so, jump to step S303; if not, jump to step S301;

[0073] Step S303: Obtain the expected passing angle of the target vehicle corresponding to the target road;

[0074] Step S304: Calculate the vehicle width corresponding to the target vehicle according to the expected passing angle to obtain the interactive expected width, and calculate the vehicle length corresponding to the target vehicle according to the expected passing angle to obtain the interactive expected length;

[0075] Step S305: Determine whether the segment width corresponding to each road segment is greater than or equal to the interactive expected width. If so, jump to step S306; if not, jump to step S307;

[0076] Step S306: Determine the target road as the expected interactive section, and jump to step S311.

[0077] Step S307: Determine the alternative segments with segment widths greater than or equal to the interactive expected width from the road segments, and form alternative sections by continuous alternative segments;

[0078] Step S308: Determine whether the section length of any alternative section is greater than or equal to the interactive expected length. If so, jump to step S309; if not, jump to step S310;

[0079] Step S309: Determine the alternative section as the expected interactive section, and jump to step S311.

[0080] Step S310: Since there is no expected interactive section on the target road, jump to step S314.

[0081] Step S311: Calculate according to the vehicle speed corresponding to the target vehicle and the vehicle distance between the target vehicles to predict the expected driving parameters of the target vehicle before reaching the expected interactive section;

[0082] Among them, the expected driving parameters include expected vehicle speed and / or expected acceleration;

[0083] Step S312: Determine whether the expected driving parameters meet the safety threshold range. If so, jump to step S313; if not, jump to step S314;

[0084] Step S313: Set the interactive warning information to that the target vehicle can complete the vehicle interaction behavior in the expected interactive section;

[0085] Step S314: Set the interactive warning information to that the target vehicle cannot complete the vehicle interaction behavior in the expected interactive section.

[0086] Using the driving warning method for vehicle interaction behavior provided by the embodiments of the present disclosure, if there are multiple target vehicles on the target road, the desired interaction section between the target vehicles is determined from the target road based on the road width information of the target road, and it is judged whether the target vehicle can complete the vehicle interaction behavior in the desired interaction section according to the vehicle driving information corresponding to the target vehicle, and the interaction warning information is displayed to the target vehicle. In this way, compared with detecting risks during the vehicle interaction behavior, not only is the desired interaction section determined from the target road based on the road width information of the target road, so that the target vehicle performs the vehicle interaction behavior in the desired interaction section with the lowest interaction risk, but also it is judged whether the target vehicle can complete the vehicle interaction behavior in the desired interaction section according to the vehicle driving information corresponding to the target vehicle, and the interaction warning information is displayed, so as to give an interaction warning to the user before the target vehicle performs the interaction behavior, thereby realizing risk warning before the vehicle interaction behavior and improving the safety of vehicle driving.

[0087] Optionally, displaying the interaction warning information to any target vehicle includes: performing target detection on the target road to determine the appearance frequency of reference objects in the target road according to the target detection result, where the reference objects include driving obstacles, vision blockers, and target curves, and the target curve is a turning area with a turning angle greater than a preset angle threshold; if the appearance frequency of the reference objects is greater than or equal to a preset frequency threshold, the interaction warning information is displayed to any target vehicle.

[0088] In some embodiments, the driving obstacles include vehicles, pedestrians, etc., and the vision blockers are obstacles outside the road, such as buildings, walls, etc. Whether the target road belongs to a driving risk area with a high risk, such as a mountain road or a downtown area, is judged by the appearance frequency of the reference objects, so as to intelligently provide an interaction warning.

[0089] Combined with Figure 4 As shown in, the embodiments of the present disclosure provide a driving warning system for vehicle interaction behavior, including an acquisition module 401, a determination module 402, a generation module 403, and a display module 404.

[0090] The acquisition module 401 is configured to acquire the road width information of the target road and acquire the vehicle driving information corresponding to at least two target vehicles, where the target vehicles are all driving on the target road.

[0091] The determination module 402 is configured to determine the desired interaction section between the target vehicles from the target road according to the road width information.

[0092] The generation module 403 is configured to generate interaction warning information according to the desired interaction section and the vehicle driving information, where the interaction warning information is used to represent whether the target vehicle can complete the vehicle interaction behavior in the desired interaction section.

[0093] The display module 404 is configured to display the interactive warning information to any target vehicle.

[0094] By using the driving warning system for vehicle interaction behaviors provided in the embodiments of the present disclosure, if there are multiple target vehicles on a target road, the desired interaction section between the target vehicles is determined from the target road according to the road width information of the target road, and it is judged whether the target vehicles can complete the vehicle interaction behavior in the desired interaction section according to the vehicle driving information corresponding to the target vehicles, and the interactive warning information is displayed to the target vehicles. In this way, compared with detecting risks during the vehicle interaction behavior, not only is the desired interaction section determined from the target road according to the road width information of the target road, so that the target vehicles perform vehicle interaction behaviors in the desired interaction section with the lowest interaction risk, but also it is judged whether the target vehicles can complete the vehicle interaction behavior in the desired interaction section according to the vehicle driving information corresponding to the target vehicles, and the interactive warning information is displayed, so as to give an interactive warning to the user before the target vehicles perform the interaction behavior, thereby realizing the risk warning before the vehicle interaction behavior and improving the safety of vehicle driving.

[0095] The embodiments of the present disclosure also provide a vehicle terminal, including: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored in the memory so that the vehicle terminal executes the above method.

[0096] Figure 5 The structural schematic diagram of a computer system of a vehicle terminal suitable for implementing the embodiments of the present application is shown. It should be noted that Figure 5 The shown computer system 500 of the vehicle terminal is only an example, and should not bring any limitation to the functions and usage scope of the embodiments of the present application.

[0097] As Figure 5 shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 502 or the program loaded from the storage section 508 into the random access memory (RAM) 503, such as executing the method in the above embodiments. In the RAM 503, various programs and data required for system operation are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0098] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as required. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 510 as required so that a computer program read therefrom is installed into the storage section 508 as required.

[0099] The vehicle terminal disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication therebetween. The memory is used to store computer programs, the communication interface is used for communication, and the processor and the transceiver are used to run the computer programs so that the vehicle terminal executes each step of the above method.

[0100] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure, enabling those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, process, and other changes. Embodiments merely represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and sub-samples of some embodiments may be included in or replace portions and sub-samples of other embodiments. Moreover, the terms used in this application are only for describing embodiments and do not limit the claims. As used in the description of embodiments and claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Similarly, as used in this application, the term "and / or" refers to any and all possible combinations of one or more of the associated listed items. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. mean the presence of the stated sub-samples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other sub-samples, wholes, steps, operations, elements, components, and / or groupings of these. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, or apparatus comprising the element. Herein, each embodiment may focus on the differences from other embodiments, and the same or similar parts among the embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method parts disclosed in the embodiments, the relevant parts may refer to the description of the method parts.

[0101] Those skilled in the art will realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner may depend on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0102] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units can be merely a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some sub-samples can be ignored or not executed. Additionally, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the various functional units can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit.

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the blocks can occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks can also occur in a different order than disclosed in the description. Sometimes, there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. Each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A driving warning method for vehicle interactive behavior, characterized in that: include: Acquire road width information of a target road, and acquire vehicle driving information corresponding to at least two target vehicles, wherein the target vehicles are all driving on the target road; Determining a desired interaction section between the target vehicles from the target road according to the road width information; Generate interaction warning information according to the expected interaction section and the vehicle driving information, wherein the interaction warning information is used to indicate whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section; The interactive warning information is displayed to any target vehicle.

2. The method according to claim 1, characterized in that: Obtain the road width information of the target road, including at least one of the following: Extracting the number of lanes of the target road from preset map data to obtain road width information of the target road; Identifying lane lines of the target road, and determining the number of lanes of the target road according to the lane lines to generate road width information of the target road; The target road is divided into a plurality of road segments, and the segment widths corresponding to the road segments are measured to obtain road width information of the target road.

3. The method according to claim 1, characterized in that Obtaining vehicle driving information corresponding to at least two target vehicles, including: By measuring the vehicle length and vehicle width of the target vehicle, the vehicle size corresponding to the target vehicle is obtained, and the vehicle spacing between the target vehicles is measured; Calculating according to the corresponding relationship between the vehicle spacing and time, obtaining the vehicle speed corresponding to each of the target vehicles; At least one of a vehicle size, a vehicle distance, and a vehicle speed is used as vehicle travel information corresponding to the target vehicle.

4. The method according to claim 1, characterized in that: Determining the expected interaction section between the target vehicles from the target road according to the road width information includes: Determine any target vehicle as the current vehicle, and determine target vehicles other than the current vehicle as vehicles to be interacted with; If the target road has multiple lanes, and the number of lanes on the target road is equal to the number of vehicles to be interacted with, determining the interaction positions between the vehicles to be interacted with from the target road according to the vehicle speeds and vehicle spacings corresponding to the vehicles to be interacted with; The target road between the vehicle position corresponding to the current vehicle and the interaction position is determined as the expected interaction section corresponding to the current vehicle.

5. The method according to claim 4, characterized in that Generate interactive warning information according to the expected interactive road section and the vehicle driving information, including: Calculating according to the vehicle speed corresponding to the current vehicle, the vehicle speed corresponding to the vehicle to be interacted, and the vehicle distance between the current vehicle and the vehicle to be interacted, so as to predict the expected driving parameters before the current vehicle and the vehicle to be interacted complete the interaction action, wherein the expected driving parameters include expected vehicle speed and / or expected acceleration; If the expected driving parameter meets the preset safety threshold interval, the interaction warning information is set to enable the target vehicle to complete the vehicle interaction behavior in the expected interaction section; If the expected driving parameter does not satisfy the safety threshold interval, the interaction warning information is set to indicate that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

6. The method according to claim 1, characterized in that Determining the expected interaction section between the target vehicles from the target road according to the road width information includes: Obtaining an expected meeting angle of the target vehicle corresponding to the target road; Calculating the vehicle widths corresponding to the target vehicles according to the expected meeting angle to obtain an expected interaction width, and calculating the vehicle lengths corresponding to the target vehicles according to the expected meeting angle to obtain an expected interaction length; If the segment widths corresponding to the road segments in the target road are all greater than or equal to the expected interaction width, the target road is determined as an expected interaction segment; If there is a road segment whose corresponding segment width is smaller than the interaction expected width, determining candidate segments whose segment width is greater than or equal to the interaction expected width from the road segments, so as to form a candidate road section through continuous candidate segments; If the length of any candidate road segment is greater than or equal to the expected interaction length, the candidate road segment is determined as the expected interaction road segment; If the segment lengths of the candidate segments are all shorter than the expected interaction length, then there is no expected interaction segment on the target road.

7. The method according to claim 6, characterized in that Generate interactive warning information according to the expected interactive road section and the vehicle driving information, including: Calculating according to the vehicle speed corresponding to the target vehicle and the vehicle distance between the target vehicles to predict the expected driving parameters of the target vehicle before reaching the expected interactive section; If the expected driving parameter meets the preset safety threshold interval, the interaction warning information is set to enable the target vehicle to complete the vehicle interaction behavior in the expected interaction section; If the expected driving parameter does not satisfy the safety threshold interval, the interaction warning information is set to indicate that the target vehicle cannot complete the vehicle interaction behavior in the expected interaction section.

8. The method according to any one of claims 1 to 7, characterized in that: Displaying the interactive warning information to any target vehicle includes: Performing target detection on the target road to determine the occurrence frequency of reference objects in the target road according to the target detection result, wherein the reference objects include driving obstacles, visual field obstructions, and target curves, and the target curves are turning areas with a turning angle greater than a preset angle threshold; If the occurrence frequency of the reference object is greater than or equal to a preset frequency threshold, the interactive warning information is displayed to any target vehicle.

9. A driving warning system for vehicle interactive behavior, characterized in that: include: An acquisition module is configured to acquire road width information of a target road and acquire vehicle driving information corresponding to at least two target vehicles, wherein the target vehicles are all driving on the target road; a determination module configured to determine an expected interaction section between the target vehicles from the target road according to the road width information; A generating module is configured to generate interaction warning information according to the expected interaction section and the vehicle driving information, wherein the interaction warning information is used to indicate whether the target vehicle can complete the vehicle interaction behavior in the expected interaction section; The display module is configured to display the interactive warning information to any target vehicle.

10. A vehicle terminal, characterized in that: include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the vehicle terminal executes the method according to any one of claims 1 to 8.

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