Lane changing early warning method and system of vehicle, vehicle, equipment and medium
By combining road curvature information and lane change direction to adjust the target vehicle selection range, the problems of false alarms and missed alarms in lane change warnings in curve scenarios are solved, improving the accuracy of lane change warnings and the safety of vehicle driving.
Patent Information
- Application Number
- CN202511460431.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-13
- Publication Date
- 2026-03-06
AI Technical Summary
Existing lane change warning methods suffer from serious false alarms or missed alarms in curve scenarios, especially under harsh working conditions or heavy loads, where sensor accuracy decreases, affecting the reliability of lane change warnings and driving safety.
By combining road curvature information and lane change direction, the target vehicle selection range is adjusted in real time to match the shape of the road behind the vehicle, the target vehicle is selected, and the collision risk is calculated and a warning is issued based on vehicle information and vehicle speed.
It improves the accuracy and reliability of lane change warnings, enhancing vehicle safety in curve scenarios.
Smart Images
Figure CN121608735A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a method, system, vehicle, device and medium for lane change warning of a vehicle. Background Technology
[0002] When a vehicle is in motion, if the driver cannot keep track of the traffic conditions in the blind spot to the side and rear of the vehicle when changing lanes or merging, it can easily lead to a traffic accident. Therefore, lane change warning functions are needed to provide driving assistance.
[0003] Existing lane change warning methods can accurately warn vehicles to the side and rear in straight road scenarios. However, in curved scenarios, they typically estimate the radius of curvature of the curve using information such as steering wheel angle and yaw rate to adjust the range of targets to be detected behind. However, this method can only estimate the radius of curvature at the vehicle's current position, while actual roads often have varying curvature, which can easily lead to false alarms or missed alarms. At the same time, under harsh conditions or with heavy loads, the accuracy of sensors such as steering wheel angle and yaw rate is easily reduced, making it impossible to accurately determine the radius of curvature of the curve, thus affecting the reliability of lane change warnings and driving safety. Summary of the Invention
[0004] Therefore, it is necessary to provide a vehicle lane change warning method, system, vehicle, equipment, and medium to address the aforementioned technical problems. By combining road curvature information and lane change direction, the target vehicle screening range is adjusted in real time to match the shape of the road behind the vehicle, thereby improving the reliability of vehicle screening and thus enhancing the accuracy of lane change warning, providing safety assurance for vehicle driving.
[0005] Firstly, a lane change warning method for vehicles is provided, including: Obtain curvature information of the road within a predetermined distance behind the vehicle; Obtain vehicle information of the candidate vehicles located behind the vehicle from the side; Based on the curvature information and the direction in which the vehicle will change lanes, the target vehicle is selected from the candidate vehicles; Based on the vehicle information of the target vehicle and the speed of the vehicle, the collision risk between the vehicle and the target vehicle when the vehicle changes lanes is obtained; The vehicle will issue a lane change warning based on the collision risk.
[0006] Furthermore, obtaining the curvature information of the road within a predetermined distance behind the vehicle includes: Obtain the location information of the vehicle; Based on the vehicle's location information and navigation map, the curvature information of the road within a predetermined distance behind the vehicle is obtained, wherein the curvature information includes the radius of curvature.
[0007] Furthermore, obtaining the vehicle information of the candidate vehicles behind the vehicle from the side includes: The vehicle information of the candidate vehicle located behind the vehicle is detected using millimeter-wave radar. The vehicle information includes the position, distance, and speed of the candidate vehicle.
[0008] Further, the step of selecting the target vehicle from the candidate vehicles based on the curvature information and the direction in which the vehicle will change lanes includes: Based on the curvature information and the direction the vehicle will change lanes, determine the target selection range; Based on the target selection range, target vehicles are selected from the candidate vehicles.
[0009] Furthermore, the step of determining the collision risk between the self-vehicle and the target vehicle when changing lanes based on the vehicle information of the target vehicle and the speed of the self-vehicle includes: Obtain the speed difference between the target vehicle and the vehicle itself; Obtain the distance between the target vehicle and the vehicle itself; The collision risk is obtained based on the speed difference and the distance between vehicles.
[0010] Furthermore, the method of providing lane change warning for the vehicle based on the collision risk includes: Determine whether the collision risk is greater than a preset threshold; If so, then issue a lane change warning for the vehicle.
[0011] Secondly, a lane change warning system for vehicles is provided, including: The curvature acquisition module is used to obtain the curvature information of the road within a predetermined distance behind the vehicle; The vehicle information acquisition module is used to obtain vehicle information of the candidate vehicles behind the vehicle from the side. The filtering module is used to filter out the target vehicle from the candidate vehicles based on the curvature information and the direction in which the vehicle will change lanes. The collision risk determination module is used to determine the collision risk between the vehicle and the target vehicle when the vehicle changes lanes, based on the vehicle information of the target vehicle and the vehicle speed of the vehicle. The warning module is used to provide lane change warnings for the vehicle based on the collision risk.
[0012] Thirdly, a vehicle is provided, including: a lane change warning system for the vehicle according to the second aspect described above.
[0013] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the vehicle lane change warning method of the first aspect and any possible implementation thereof.
[0014] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle lane change warning method of the first aspect and any possible implementation thereof.
[0015] The embodiments of this application first obtain the curvature information of the road within a predetermined distance behind the vehicle; then, obtain the vehicle information of candidate vehicles to the side and rear of the vehicle; next, based on the curvature information and the direction the vehicle is about to change lanes, select a target vehicle from the candidate vehicles; then, based on the target vehicle's vehicle information and the vehicle's speed, determine the collision risk between the vehicle and the target vehicle during the lane change; finally, issue a lane change warning based on the collision risk. Thus, by combining road curvature information and lane change direction to adjust the target vehicle selection range in real time, matching it to the shape of the road behind the vehicle, the reliability of vehicle selection is improved, thereby enhancing the accuracy of lane change warnings and providing safety assurance for vehicle driving. Attached Figure Description
[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a vehicle lane change warning method provided in an embodiment of this application; Figure 2 A schematic diagram of a scenario for the lane change warning method for vehicles provided in an embodiment of this application; Figure 3 A system block diagram of the vehicle lane change warning method provided in the embodiments of this application; Figure 4 A structural block diagram of a vehicle lane change warning system provided in an embodiment of this application; Figure 5 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation
[0017] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.
[0018] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.
[0019] The following describes in detail, with reference to the accompanying drawings, a vehicle lane change warning method, system, vehicle, device, and medium according to embodiments of this application.
[0020] Figure 1 This is a flowchart of a vehicle lane change warning method according to an embodiment of this application. Figure 1 As shown, the lane change warning method for vehicles according to an embodiment of this application includes the following steps: S101: Obtain curvature information of the road within a predetermined distance behind the vehicle.
[0021] In one embodiment of this application, obtaining the curvature information of the road within a predetermined distance behind the vehicle includes: obtaining the position information of the vehicle; and obtaining the curvature information of the road within a predetermined distance behind the vehicle based on the position information of the vehicle and a navigation map, wherein the curvature information includes the radius of curvature.
[0022] Among them, combined Figure 3 As shown, the vehicle's location information is obtained through the onboard positioning module (Global Navigation Satellite System, GNSS) and combined with the navigation map. As the vehicle moves forward, it continuously crawls and memorizes the curvature information of the road it has traveled. The memorized length is the predetermined distance. In a specific example, the memorized length is set to 100 meters behind the vehicle. In other examples, it can be set according to actual needs.
[0023] S102: Obtain vehicle information of the candidate vehicles located behind the vehicle.
[0024] In one embodiment of this application, obtaining the vehicle information of the candidate vehicles behind the vehicle includes: using millimeter-wave radar to detect the vehicle information of the candidate vehicles behind the vehicle, wherein the candidate vehicles are multiple vehicles detected by the millimeter-wave radar behind the vehicle within the predetermined distance; the vehicle information includes, but is not limited to, the position of the candidate vehicles, the distance between the candidate vehicles and the vehicle, and the speed of the candidate vehicles.
[0025] S103: Based on the curvature information and the direction in which the vehicle will change lanes, select the target vehicle from the candidate vehicles.
[0026] In one embodiment of this application, the step of selecting a target vehicle from the candidate vehicles based on the curvature information and the direction in which the vehicle will change lanes includes: determining a target selection range based on the curvature information and the direction in which the vehicle will change lanes; and selecting a target vehicle from the candidate vehicles based on the target selection range.
[0027] Specifically, such as Figure 2 As shown, as the vehicle moves, the target selection range adjusts according to the current curvature information and the direction the vehicle will change lanes, so that the shape of the target selection range changes in real time with the shape of the curve behind the vehicle. Then, vehicles within the target selection range are output as target vehicles.
[0028] Combination Figure 2 As shown, a car is traveling on a curve with varying curvature. Vehicles A and B are located to its side and rear. If the road curvature is not considered and the target selection range is set only according to the straight-line conditions, vehicle B will be identified as the target vehicle. However, if road curvature information is incorporated, the target selection range changes, and vehicle A will be identified as the target vehicle. Based on practical experience, vehicle A is a potential target vehicle that could collide with the car during a lane change. Therefore, setting the target selection range only according to the straight-line conditions will lead to missing vehicle A and incorrectly selecting vehicle B. Incorporating curvature information allows the lane change warning mechanism to be better applied to curve scenarios, improving the accuracy of lane change warnings.
[0029] S104: Based on the vehicle information of the target vehicle and the speed of the vehicle, obtain the collision risk between the vehicle and the target vehicle when the vehicle changes lanes.
[0030] In one embodiment of this application, the step of obtaining the collision risk between the self-vehicle and the target vehicle when changing lanes based on the vehicle information of the target vehicle and the speed of the self-vehicle includes: obtaining the speed difference between the target vehicle and the self-vehicle; obtaining the distance between the target vehicle and the self-vehicle; and obtaining the collision risk based on the speed difference and the distance.
[0031] The collision risk (Time to Collision, TTC) is calculated by the distance between the target vehicle and the vehicle itself, divided by the speed difference between the target vehicle and the vehicle itself.
[0032] S105: Provide lane change warning for the vehicle based on the collision risk.
[0033] In one embodiment of this application, the step of issuing a lane change warning for the vehicle based on the collision risk includes: determining whether the collision risk is greater than a preset threshold; if so, issuing a lane change warning for the vehicle.
[0034] In one specific example, the preset threshold is set to 3 seconds. This means that if the collision risk value between the target vehicle and the vehicle is less than 3 seconds, a collision risk is determined to exist between the target vehicle and the vehicle, triggering a lane change warning. In other examples, the threshold can be set according to specific circumstances.
[0035] The lane change warning method for vehicles according to embodiments of this application first obtains the curvature information of the road within a predetermined distance behind the vehicle; then, it obtains the vehicle information of candidate vehicles to the side and rear of the vehicle; next, based on the curvature information and the direction the vehicle is about to change lanes, it filters out a target vehicle from the candidate vehicles; then, based on the vehicle information of the target vehicle and the vehicle speed of the vehicle, it obtains the collision risk of the vehicle changing lanes with the target vehicle; finally, it issues a lane change warning for the vehicle based on the collision risk. Thus, by combining road curvature information and lane change direction to adjust the target vehicle selection range in real time, matching it with the shape of the road behind the vehicle, the reliability of vehicle selection is improved, thereby increasing the accuracy of lane change warnings and providing safety assurance for vehicle driving.
[0036] Figure 4 This is a structural block diagram of a vehicle lane change warning system according to an embodiment of this application. Figure 4 As shown, a lane change warning system for a vehicle according to an embodiment of this application includes: a curvature acquisition module 410, a vehicle information acquisition module 420, a filtering module 430, a collision risk determination module 440, and a warning module 450, wherein: The curvature acquisition module 410 is used to obtain the curvature information of the road within a predetermined distance behind the vehicle. The vehicle information acquisition module 420 is used to obtain the vehicle information of the candidate vehicles behind the vehicle. The filtering module 430 is used to filter out the target vehicle from the candidate vehicles based on the curvature information and the direction in which the vehicle will change lanes. The collision risk determination module 440 is used to determine the collision risk between the vehicle and the target vehicle when the vehicle changes lanes, based on the vehicle information of the target vehicle and the vehicle speed of the vehicle. The warning module 450 is used to provide lane change warnings for the vehicle based on the collision risk.
[0037] The lane change warning system for vehicles according to embodiments of this application first obtains the curvature information of the road within a predetermined distance behind the vehicle; then, it obtains the vehicle information of candidate vehicles to the side and rear of the vehicle; next, based on the curvature information and the direction the vehicle is about to change lanes, it filters out a target vehicle from the candidate vehicles; then, based on the target vehicle's vehicle information and the vehicle's speed, it obtains the collision risk of the vehicle changing lanes with the target vehicle; finally, it issues a lane change warning for the vehicle based on the collision risk. Thus, by combining road curvature information and lane change direction to adjust the target vehicle selection range in real time, matching it with the shape of the road behind the vehicle, the reliability of vehicle selection is improved, thereby increasing the accuracy of lane change warnings and providing safety assurance for vehicle driving.
[0038] Specific limitations regarding the vehicle lane change warning system can be found in the limitations on the vehicle lane change warning method described above, and will not be repeated here. The various modules of the aforementioned vehicle lane change warning system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the computer device's memory in software form, so that the processor can call and execute the corresponding operations of each module.
[0039] Furthermore, a vehicle is provided, comprising: a lane change warning system for a vehicle according to any of the above embodiments. The vehicle first obtains curvature information of the road within a predetermined distance behind it; then obtains vehicle information of candidate vehicles to its side and rear; then, based on the curvature information and the direction the vehicle is about to change lanes, it filters out a target vehicle from the candidate vehicles; then, based on the target vehicle's vehicle information and the vehicle's speed, it obtains the collision risk with the target vehicle during the lane change; finally, it issues a lane change warning based on the collision risk. Thus, by combining road curvature information and lane change direction to adjust the target vehicle selection range in real time, matching it with the shape of the road behind the vehicle, the reliability of vehicle selection is improved, thereby increasing the accuracy of the lane change warning and providing safety assurance for vehicle driving.
[0040] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.
[0041] In one embodiment, a computer device is provided. Figure 5 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 5 The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned vehicle lane change warning method embodiment. For example, it executes: obtaining the curvature information of the road within a predetermined distance behind the vehicle; Obtain vehicle information of the candidate vehicles located behind the vehicle from the side; Based on the curvature information and the direction in which the vehicle will change lanes, the target vehicle is selected from the candidate vehicles; Based on the vehicle information of the target vehicle and the speed of the vehicle, the collision risk between the vehicle and the target vehicle when the vehicle changes lanes is obtained; The vehicle will issue a lane change warning based on the collision risk.
[0042] This application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, it implements the aforementioned vehicle lane change warning method embodiment. For example, it executes: obtaining the curvature information of the road within a predetermined distance behind the vehicle; Obtain vehicle information of the candidate vehicles located behind the vehicle from the side; Based on the curvature information and the direction in which the vehicle will change lanes, the target vehicle is selected from the candidate vehicles; Based on the vehicle information of the target vehicle and the speed of the vehicle, the collision risk between the vehicle and the target vehicle when the vehicle changes lanes is obtained; The vehicle will issue a lane change warning based on the collision risk.
[0043] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.
[0044] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0045] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A lane change warning method for a vehicle, characterized by, The method comprises: obtaining curvature information of a road within a predetermined distance behind the ego vehicle; obtaining vehicle information of a candidate vehicle behind the ego vehicle; selecting a target vehicle from the candidate vehicle according to the curvature information and a direction in which the vehicle is about to change lanes; obtaining a collision risk between the ego vehicle and the target vehicle when the ego vehicle changes lanes according to the vehicle information of the target vehicle and a speed of the ego vehicle; and performing a lane change warning of the ego vehicle according to the collision risk.
2. The lane change warning method of a vehicle according to claim 1, characterized by, The method of obtaining the curvature information of the road within the predetermined distance behind the ego vehicle comprises: obtaining position information of the ego vehicle; and obtaining the curvature information of the road within the predetermined distance behind the ego vehicle according to the position information of the ego vehicle and a navigation map, wherein the curvature information comprises a radius of curvature.
3. The lane change warning method of a vehicle according to claim 1, characterized by, The method of obtaining the vehicle information of the candidate vehicle behind the ego vehicle comprises: detecting the vehicle information of the candidate vehicle behind the ego vehicle by using a millimeter wave radar, wherein the vehicle information comprises a position, a distance and a speed of the candidate vehicle.
4. The lane change warning method of a vehicle according to any one of claims 1 to 3, characterized in that, The method of selecting the target vehicle from the candidate vehicle according to the curvature information and the direction in which the vehicle is about to change lanes comprises: determining a target selection range according to the curvature information and the direction in which the vehicle is about to change lanes; and selecting the target vehicle from the candidate vehicle according to the target selection range.
5. The lane change warning method of a vehicle according to claim 1, characterized by, The method of obtaining the collision risk between the ego vehicle and the target vehicle when the ego vehicle changes lanes according to the vehicle information of the target vehicle and the speed of the ego vehicle comprises: obtaining a speed difference between the target vehicle and the ego vehicle; obtaining a distance between the target vehicle and the ego vehicle; and obtaining the collision risk according to the speed difference and the distance.
6. The lane change warning method of a vehicle according to claim 5, characterized by, The method of performing the lane change warning of the ego vehicle according to the collision risk comprises: determining whether the collision risk is greater than a preset threshold; and if yes, performing the lane change warning of the ego vehicle.
7. A lane change warning system for a vehicle, characterized by The method comprises: a curvature obtaining module configured to obtain curvature information of a road within a predetermined distance behind an ego vehicle; a vehicle information obtaining module configured to obtain vehicle information of a candidate vehicle behind the ego vehicle; a selection module configured to select a target vehicle from the candidate vehicle according to the curvature information and a direction in which the vehicle is about to change lanes; a collision risk determining module configured to obtain a collision risk between the ego vehicle and the target vehicle when the ego vehicle changes lanes according to the vehicle information of the target vehicle and a speed of the ego vehicle; and a warning module configured to perform a lane change warning of the ego vehicle according to the collision risk.
8. A vehicle characterized by comprising: The method comprises: the lane change warning of the vehicle according to claim 7.
9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, A processor executes a program to implement the lane change warning method of the vehicle according to any one of claims 1-6.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the lane change warning method of the vehicle according to any one of claims 1-6.