Method for alerting a lane change of a vehicle in front on the opposite side and vehicle

Abstract

The application provides a method and a car for warning a side front vehicle changing lanes, and relates to the technical field of vehicle lane changing warning. The method comprises the following steps: acquiring position information of a side front vehicle located in a neighboring lane of a lane where the car is located; acquiring a vehicle distance between the side front vehicle and the car and an angle relative to the car based on the position information; when information that the side front vehicle is about to merge into the lane where the car is located is detected and the vehicle distance is less than a first preset distance, adjusting a projection direction of a headlamp of the car based on the angle, so that the projection direction of the headlamp is towards the side front vehicle, and controlling the headlamp to project a light signal. The method and the car for warning a side front vehicle changing lanes provided by the application can realize more timely and effective prompting of the side front vehicle, so as to warn a driver who is about to drive in a risky manner, reduce the probability that the driver encounters danger, guarantee traffic safety, and improve the user experience of the car.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle lane changing warning, in particular to a method for warning a side-front vehicle lane changing and a car. BACKGROUND

[0002] At present, with the increase of active safety functions of vehicles, there are more and more vehicle related functions, including emergency braking, emergency steering braking, emergency avoidance and rearward parking space assistance functions. These functions mainly adjust the driving state of the vehicle or remind the driver of the vehicle to avoid potential risks.

[0003] However, in actual traffic scenarios, when the host vehicle is driving normally, the front vehicle (hereinafter referred to as "side-front vehicle") in the adjacent lane often performs a dangerous lane change (such as forcibly changing lanes without turning on the turn signal, suddenly changing lanes at a close distance, etc.). At this time, in the prior art, the driver usually needs to manually operate the high beam or horn to warn the side-front vehicle. However, this method has the following defects: manual operation has a lagging reaction, and the warning may fail due to the driver's nervousness or untimely operation; the projection direction of the traditional high beam is the front, and the side-front vehicle is in the side-front area of the host vehicle, so the high beam is difficult to accurately project to the position (such as the outside rearview mirror) that can be perceived by the side-front vehicle driver, so that the side-front vehicle driver may not be able to identify the warning signal; the existing vehicle safety systems (such as corner radar, multifunction camera (MFK), adaptive cruise control system (ACC), etc.) can only realize the emergency operation (such as deceleration) of the host vehicle or the reminder (such as instrument alarm) to the driver of the host vehicle, and cannot actively transmit warning information to the side-front vehicle with dangerous lane change, so it is difficult to reduce the conflict risk caused by dangerous lane change from the source. SUMMARY

[0004] To at least partially solve the above problems, the purpose of the present application is to provide a method for warning a side-front vehicle lane changing and a car applying the method, so as to realize automatic identification of the lane changing behavior of the front vehicle and effectively warn the side-front vehicle by adjusting the projection direction of the headlamp, thereby reducing the risk of traffic accidents.

[0005] According to a first aspect of the present application, the present application provides a method for warning a side-front vehicle lane changing, comprising: acquiring position information of a side-front vehicle located in an adjacent lane of a lane where a host vehicle is located; based on the position information, acquiring a vehicle distance between the side-front vehicle and the host vehicle and an angle relative to the host vehicle; when detecting information that the side-front vehicle is about to merge into the lane where the host vehicle is located and the vehicle distance is less than a first preset distance, adjusting the projection direction of a headlamp of the host vehicle based on the angle, so that the projection direction of the headlamp is directed towards the side-front vehicle, and controlling the headlamp to project a light signal.

[0006] In some embodiments, the acquiring the position information of the side-front vehicle in the adjacent lane of the lane where the ego vehicle is located comprises: collecting image information in front of the ego vehicle; identifying a position of a side mirror of the ego vehicle in the image information; and taking the position of the side mirror as the position information of the side-front vehicle.

[0007] In some embodiments, the acquiring the distance between the side-front vehicle and the ego vehicle and the angle of the side-front vehicle relative to the ego vehicle based on the position information comprises: controlling the radar to detect the position of the side mirror; taking a first distance between the position of the side mirror and the radar as the distance between the side-front vehicle and the ego vehicle; and taking a first angle of a line connecting the position of the side mirror and the radar relative to a straight line in front of the ego vehicle as the angle of the side-front vehicle relative to the ego vehicle.

[0008] In some embodiments, the headlamp comprises a first lamp and a second lamp, the radar is located on a line connecting the first lamp and the second lamp and between the first lamp and the second lamp, a distance between the first lamp and the position of the side mirror is less than a distance between the second lamp and the position of the side mirror, and the adjusting the projection direction of the headlamp of the ego vehicle based on the angle comprises: acquiring a second distance between the radar and the first lamp; acquiring a third distance between the radar and the second lamp; acquiring a first adjustment angle of the first lamp and a second adjustment angle of the second lamp based on the first distance, the second distance, the third distance, and the first angle; and wherein the first adjustment angle is , and the second adjustment angle is , wherein TM is the first distance, c is the first angle, MD1 is the second distance, and MD2 is the third distance.

[0009] In some embodiments, the information that the side-front vehicle is about to merge into the lane where the ego vehicle is located comprises: the side-front vehicle's turn signal being activated and / or a distance between a front wheel of the side-front vehicle and the lane where the ego vehicle is located being less than a second preset distance.

[0010] In some embodiments, the controlling the headlamp to project a light signal comprises controlling the headlamp to flash, and after the collecting the image information in front of the ego vehicle, the method further comprises: identifying an activation state of a turn signal of the side-front vehicle in the image information; when the turn signal is activated, controlling the headlamp to flash a first preset number of times; and when the turn signal is not activated but the distance between the front wheel of the side-front vehicle and the lane where the ego vehicle is located is less than the second preset distance, controlling the headlamp to flash a second preset number of times, the second preset number of times being greater than the first preset number of times.

[0011] In some embodiments, when the turn signal is not activated but the distance between the front wheel of the side-front vehicle and the lane where the ego vehicle is located is less than the second preset distance, the method further comprises: controlling the ego vehicle to honk; and / or controlling an icon and a sound on an instrument panel of the ego vehicle to remind.

[0012] In some embodiments, the method is executed when a speed of the ego vehicle is greater than a preset speed, and the preset speed is determined based on a preset value of a user.

[0013] In some embodiments, the method is executed when the gear of the host vehicle is in D.

[0014] According to a second aspect of the present application, embodiments of the present application also provide an automobile, which comprises a control system configured to execute the above control method.

[0015] The method and the automobile for warning a side-front vehicle to change lanes provided by the embodiments of the present application can effectively make the driver of the side-front vehicle perceive in time when the side-front vehicle is about to merge into the lane where the host vehicle is located, and can more timely and effectively warn the driver of the side-front vehicle, so as to reduce the probability of the driver encountering danger, guarantee traffic safety, and improve user experience of the host vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0017] Figure 1 is a principle diagram for calculating the deflection angle of the headlamp provided by the embodiments of the present application.

[0018] It should be understood that the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In addition, the same or similar reference numerals represent the same or similar components. DETAILED DESCRIPTION

[0019] The technical solutions of the preferred embodiments of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of the present application.

[0020] The "first", "second" and similar words used in the present application do not represent any order, quantity or importance, but are only used to distinguish different parts. "Include" or "contain" and similar words mean that the elements before the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Please refer to Figure 1 According to a first aspect of the present application, the present application provides a method for warning a side-front vehicle changing lanes. The method comprises: acquiring position information of a side-front vehicle in a lane adjacent to a lane where the vehicle is located; based on the position information, acquiring a distance between the side-front vehicle and the vehicle and an angle relative to the vehicle; when detecting information that the side-front vehicle is about to merge into the lane where the vehicle is located and the distance is less than a first preset distance, adjusting a projection direction of a headlamp of the vehicle based on the angle, so that the projection direction of the headlamp is directed towards the side-front vehicle, and controlling the headlamp to project a light signal.

[0022] In the embodiment, the above method is only executed when the distance is less than the first preset distance, so as to avoid interfering with vehicles changing lanes normally. The first preset distance can be determined based on experience value, and the first preset distance can be adjusted within a certain range, which can be automatic adjustment or manual setting by a user. When the first preset distance is automatically adjusted, the first preset distance can be determined according to the current driving speed of the vehicle, for example, when the current driving speed is high, the first preset distance can be increased to ensure safety; when the speed is low, the first preset distance can be appropriately reduced.

[0023] In the embodiment, the light signal projected by the headlamp can be that the headlamp flashes at a preset frequency and / or the headlamp projects at a preset light intensity. When the headlamp projects the light signal, the light intensity of the headlamp can be maintained within a range in which the driver of the side-front vehicle does not experience glare, so as to ensure the safety of the driver of the side-front vehicle. The range of the light intensity can be determined based on the light intensity of the current environment.

[0024] In the embodiment, the position information of the side-front vehicle determines the projection direction of the headlamp of the vehicle. For example, the position information of the side-front vehicle can be the position of the rear windshield, the position of the front window, the position of the rear window, the position of the rearview mirror, etc.

[0025] The method for warning a side-front vehicle changing lanes provided by the embodiments of the present application can timely adjust the projection direction of the headlamp of the vehicle when detecting that the side-front vehicle is about to merge into the lane where the vehicle is located, so that the projection direction of the headlamp is directed towards the side-front vehicle and a light signal is projected, thereby enabling the driver of the side-front vehicle to effectively perceive, achieving more timely and effective prompting of the side-front vehicle, warning the driver who is about to drive at risk, reducing the probability of the driver encountering danger, ensuring traffic safety, and improving the user experience of the vehicle.

[0026] In some embodiments, the position information of the side-front vehicle in the adjacent lane of the lane where the host vehicle is located is acquired by: collecting image information in front of the host vehicle; identifying the position of the side-front vehicle in the image information; and taking the position of the rearview mirror as the position information of the side-front vehicle. In this embodiment, the image information can be collected by the multi-functional camera of the vehicle. After the multi-functional camera collects the image information, visual recognition can be performed to identify the front vehicle, including the front vehicle in the lane where the host vehicle is located and the side-front vehicle in the adjacent lane. The related image recognition method is mature, and thus will not be described herein. In this embodiment, the position of the rearview mirror is taken as the position information of the side-front vehicle, so that the light projected by the headlamp of the host vehicle can enter the field of view of the driver of the side-front vehicle, thereby further ensuring that the driver of the side-front vehicle can effectively perceive.

[0027] In some embodiments, the distance between the side-front vehicle and the host vehicle and the angle relative to the host vehicle are acquired based on the position information by: controlling the radar to detect the position of the rearview mirror; taking the first distance between the radar and the position of the rearview mirror as the distance; and taking the first angle by which the line connecting the position of the rearview mirror and the radar is deflected relative to the front of the host vehicle as the angle of the side-front vehicle relative to the host vehicle. In this embodiment, the distance and the angle are measured by the radar. The radar can be the millimeter wave radar of the ACC system of the vehicle, or can be the front corner radars on both sides of the vehicle or the laser radar additionally arranged, and preferably, the radar of the vehicle can be used to reduce the cost. In this embodiment, the radar and the multi-functional camera are combined, and the information collected by the two is fused to finally obtain the detailed position information of all the vehicles in front of the host vehicle.

[0028] Please continue to refer to Figure 1 In some embodiments, the headlamp includes a first lamp and a second lamp, the radar is located on the line connecting the first lamp and the second lamp and between the first lamp and the second lamp, the distance between the first lamp and the position of the rearview mirror is less than the distance between the second lamp and the position of the rearview mirror, and the projection direction of the headlamp of the host vehicle is adjusted based on the angle by: acquiring a second distance between the radar and the first lamp; acquiring a third distance between the radar and the second lamp; acquiring a first adjustment angle of the first lamp and a second adjustment angle of the second lamp based on the first distance, the second distance, the third distance and the first angle; and adjusting the projection direction of the headlamp of the host vehicle based on the first adjustment angle and the second adjustment angle. , wherein TM is the first distance, c is the first angle, MD1 is the second distance, and MD2 is the third distance. Figure 1 ​In some embodiments, the first adjustment angle and the second adjustment angle further include an adjustment angle in the up-down direction, to be applied to the case where the side-front vehicle has a large height difference with the host vehicle, and the specific calculation method is similar to the above process, which is not expanded here.

[0029] In some embodiments, the information that the side-front vehicle is about to merge into the lane where the host vehicle is includes: the side-front vehicle's turn signal is activated and / or the distance between the side-front vehicle's front wheel and the lane where the host vehicle is is less than a second preset distance. In this embodiment, the turn signal is used to determine whether the side-front vehicle is about to change lanes, which is simple to identify and can detect vehicles with lane-changing intentions in advance, so that the warning can be more timely. The distance between the side-front vehicle's front wheel and the lane where the host vehicle is is used to determine whether the side-front vehicle is about to change lanes, which can more accurately determine the side-front vehicle's lane-changing situation and prevent misjudgment and omissions. The above two methods can be combined to increase the timeliness and accuracy of the judgment.

[0030] In some embodiments, the control of the headlamp projection light signal includes controlling the headlamp to flash, and after collecting the image information in front of the host vehicle, the method further includes: identifying the activation state of the side-front vehicle's turn signal in the image information; when the turn signal is activated, controlling the headlamp to flash a first preset number of times; when the turn signal is not activated but the distance between the side-front vehicle's front wheel and the lane where the host vehicle is is less than a second preset distance, controlling the headlamp to flash a second preset number of times, and the second preset number of times is greater than the first preset number of times. In this embodiment, different warning strategies can be used for side-front vehicle drivers with different driving habits. Specifically, for side-front vehicle drivers who change lanes without turning on the turn signal, they usually have less driving experience and weaker safety awareness, so stronger warning (e.g., activating the headlamp 3 times) can be performed to make the side-front vehicle driver receive the warning signal and drive in compliance with the rules; and for side-front vehicle drivers who change lanes with the turn signal on, they usually have more driving experience and stronger safety awareness, so weaker warning (e.g., activating the headlamp 2 times) can be performed to avoid excessive interference of the host vehicle's light on the side-front vehicle driver.

[0031] In some embodiments, when the turn signal is not activated and the distance between the front wheel of the side-front vehicle and the lane where the ego vehicle is located is less than the second preset distance, the method further comprises: controlling the ego vehicle to sound a horn; and / or controlling the instrument panel of the ego vehicle to give an icon and sound reminder. In this embodiment, the horn is sounded to additionally remind the driver of the side-front vehicle who has less driving experience and is less safety-conscious, thereby further enhancing the warning effect and reminding the driver of the ego vehicle to pay attention in preparation for taking appropriate measures against the dangerous lane-changing behavior of the side-front vehicle.

[0032] In some embodiments, the method is executed when the speed of the ego vehicle is greater than a preset speed, and the preset speed is determined based on a preset value of the user. In this embodiment, this way can shield the above control strategy in the case of safe driving at low speed, preventing meaningless warnings and causing interference to other drivers. Exemplarily, the preset speed can be 30 km / h, and preferably, the preset speed can be customized according to the user's settings.

[0033] In some embodiments, the method is executed when the gear of the ego vehicle is in D. In this embodiment, this way can shield the above control strategy in the case of reversing or parking, preventing meaningless warnings and causing interference to other drivers.

[0034] According to a second aspect of the present application, the embodiments of the present application also provide an automobile, which comprises a control system configured to execute the above control method.

[0035] Based on the above embodiments of the present application, one technical feature of one embodiment can be beneficially combined with one or more other embodiments without explicit negation or conflict.

[0036] Although some specific embodiments of the present application have been described in detail by examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced equivalently without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A method for warning vehicles changing lanes to the side and ahead, characterized in that, include: Obtain the position information of the vehicle located in front of the middle side of the adjacent lane in the lane where this vehicle is located; Based on the location information, the distance between the vehicle to the side and the vehicle itself, as well as the angle relative to the vehicle itself, are obtained; When information is detected that a vehicle is about to merge into the lane of the vehicle located on the side front and the distance between the vehicles is less than a first preset distance, the projection direction of the headlights of the vehicle is adjusted based on the angle so that the projection direction of the headlights is towards the vehicle on the side front, and the projection light signal of the headlights is controlled. Obtain the position information of the vehicle located in the middle and front of the adjacent lane in the lane where this vehicle is located, including: Collect image information of the front of this vehicle; Identify the position of the vehicle in front of the side in the image information that is close to the rearview mirror of the vehicle; The position of the rearview mirror is used as the position information of the vehicle in front of it. Based on the location information, the distance between the vehicle to the side and the vehicle itself, as well as the angle relative to the vehicle itself, are obtained, including: Control the radar to detect the position of the rearview mirror; The first distance between the position of the rearview mirror and the radar is taken as the vehicle distance; The first angle at which the line connecting the position of the rearview mirror and the radar is deflected relative to the front of the vehicle is taken as the angle of the vehicle at the side front relative to the vehicle. The headlights include a first lamp and a second lamp. The radar is located on the line connecting the first lamp and the second lamp and is positioned between the first lamp and the second lamp. The distance between the first lamp and the rearview mirror is less than the distance between the second lamp and the rearview mirror. Adjusting the projection direction of the headlights based on the angle includes: Obtain the second distance between the radar and the first light; Obtain the third distance between the radar and the second light; Based on the first distance, the second distance, the third distance, and the first angle, the first adjustment angle of the first light and the second adjustment angle of the second light are obtained respectively; wherein... First adjustment angle , Second adjustment angle , In the formula, TM is the first distance, c is the first angle, MD1 is the second distance, and MD2 is the third distance.

2. The method according to claim 1, characterized in that, Information about vehicles merging into your lane from the side ahead includes: The turn signal of the vehicle to the side is activated and / or the distance between the front wheel of the vehicle to the side and the lane in which this vehicle is located is less than a second preset distance.

3. The method according to claim 2, characterized in that, Controlling the headlight projection light signal, including controlling the headlight flashing, and after acquiring image information of the front of the vehicle, further includes: Identify the activation status of the turn signal of the vehicle in front of the side in the image information; When the turn signal is activated, the headlights are controlled to flash a first preset number of times; When the turn signal is not activated but the distance between the front wheel of the vehicle in front of it and the lane where the vehicle is located is less than a second preset distance, the headlights are controlled to flash for a second preset number of times, which is greater than the first preset number of times.

4. The method according to claim 3, characterized in that, When the turn signal is not activated but the distance between the front wheel of the vehicle to the side and the lane where the vehicle is located is less than the second preset distance, the method further includes: Control this vehicle to sound its horn; And / or control the vehicle's instrument panel to provide icon and sound alerts.

5. The method according to claim 1, characterized in that, The method is executed when the vehicle speed is greater than a preset speed, which is determined based on a user-preset value.

6. The method according to claim 1, characterized in that, The method is performed when the vehicle is in D gear.

7. A car, characterized in that, The vehicle includes a control system for performing the method for warning a vehicle changing lanes to the side as described in any one of claims 1-6.

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