Vehicle parallel early warning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a vehicle parallel early warning method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining own vehicle driving information and driving environment information of a target vehicle and adjacent vehicle driving information of vehicles on adjacent lanes; according to the driving environment information, a target parallel index value is determined from preset parallel index values, and the target parallel index value is an influence factor quantification critical value used for judging whether a target vehicle is in a parallel state with a vehicle on an adjacent lane or not and whether an early warning prompt needs to be sent out or not; and determining a parallel early warning level according to the target parallel index value, the own vehicle driving information and the adjacent vehicle driving information, and controlling the target vehicle to execute an early warning operation corresponding to the parallel early warning level. The parallel index value is dynamically adjusted by using the driving environment information, and the accuracy of the parallel monitoring result is improved. According to the invention, early warning prompt is carried out through early warning operations corresponding to different parallel early warning levels, so that the road passing efficiency and the driving safety can be improved.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a vehicle parallel warning method, device, electronic device, and storage medium. Background Technology

[0002] When a vehicle is traveling parallel to another vehicle in an adjacent lane, it can cause traffic congestion and safety hazards. Current technologies, such as using radar to monitor blind spots to the sides and rear of the vehicle or monitoring vehicle speed, are not comprehensive enough and are prone to errors or omissions in parallel detection. Summary of the Invention

[0003] This application provides a vehicle parallel early warning method, device, electronic device, and storage medium, aiming to improve the problems of incomplete vehicle parallel monitoring and inaccurate monitoring results in existing systems.

[0004] A vehicle parallel warning method, comprising: Obtain the target vehicle's own driving information and driving environment information, as well as the driving information of adjacent vehicles in adjacent lanes; Based on the driving environment information, a target parallel index value is determined from the preset parallel index values. The target parallel index value is a quantitative threshold value of influencing factors used to determine whether the target vehicle is in parallel with the vehicle in the adjacent lane and to determine whether a warning prompt needs to be issued. Based on the target parallel indicator value, the vehicle's driving information, and the neighboring vehicle's driving information, a parallel warning level is determined, and the target vehicle is controlled to perform a warning operation corresponding to the parallel warning level.

[0005] This embodiment monitors the driving information of the target vehicle and vehicles in adjacent lanes in real time, dynamically adjusts the parallel indicator value using driving environment information, and accurately identifies the parallel driving status by combining driving information and parallel indicator values, ensuring the comprehensiveness of parallel influencing factors and improving the accuracy of parallel monitoring results. Simultaneously, this embodiment also divides different parallel warning levels and provides warning prompts through warning actions corresponding to different parallel warning levels, guiding drivers to adjust their speed or change lanes accordingly. This addresses traffic congestion and safety hazards caused by prolonged parallel driving, contributing to improved road traffic efficiency and driving safety.

[0006] Further, the vehicle's driving information includes its own position, speed, and acceleration, and the neighboring vehicle's driving information includes the neighboring vehicle's position, speed, and acceleration; determining the parallel warning level based on the target parallel index value, the vehicle's driving information, and the neighboring vehicle's driving information includes: The lateral distance, longitudinal distance, speed difference, and acceleration difference between the target vehicle and the vehicles in the adjacent lane are determined; the lateral distance and longitudinal distance are determined by the position of the vehicle and the position of the adjacent vehicle, the speed difference is determined by the speed of the vehicle and the speed of the adjacent vehicle, and the acceleration difference is determined by the acceleration of the vehicle and the acceleration of the adjacent vehicle. When the lateral distance value, longitudinal distance value, speed difference value, and acceleration difference value meet the target parallel index value, the target vehicle is determined to be in a parallel state awaiting warning. The parallel duration of the target vehicle in the pending warning parallel state is obtained, and the parallel warning level is determined based on the parallel duration and the target duration threshold in the target parallel index value.

[0007] This embodiment calculates the differences in multiple dimensions of driving parameters between the vehicle and vehicles in adjacent lanes using its own driving information and the driving information of neighboring vehicles. When the differences in driving parameters meet the target parallel index value, the vehicle is determined to be in a parallel state awaiting warning, ensuring the comprehensiveness of parallel monitoring and accurately determining the parallel state. Furthermore, the parallel warning level is determined based on the parallel duration and the target duration threshold, enabling refined classification of parallel monitoring levels and ensuring the accuracy of parallel warnings.

[0008] Further, the parallel early warning level includes a Level 1 early warning level and a Level 2 early warning level; the target duration threshold includes a Level 1 duration threshold; determining the parallel early warning level based on the parallel duration and the target duration threshold in the target parallel index value includes: When the parallel duration reaches the first-level duration threshold, the parallel warning level is determined to be a first-level warning level; After the parallel warning level reaches the first-level warning level, if it is determined that the parallel duration and the following vehicle's driving information meet the conditions for a second-level warning, then the parallel warning level will be updated to the second-level warning level.

[0009] This embodiment determines the parallel warning level based on the parallel duration, indicating that it has reached the Level 1 warning level. This allows for a simple and quick determination of the lowest warning level and timely issuance of a minimum warning alert. Once the parallel warning level reaches Level 1, it further combines the parallel duration and following vehicle information to determine whether to upgrade the parallel warning level to Level 2. This level classification and upgrade mechanism helps provide differentiated warning alerts based on different risk levels, improving the flexibility of parallel monitoring.

[0010] Further, the following vehicle's driving information includes the following vehicle's speed, acceleration, and turn signal status; the target duration threshold includes a secondary duration threshold, which is greater than the primary duration threshold; determining that the parallel duration and the following vehicle's driving information meet the secondary warning conditions includes: When the parallel duration reaches the secondary duration threshold, the relative speed value between the target vehicle and the vehicle behind is determined based on the speed of the following vehicle and the speed of the vehicle itself. The score for overtaking intent is determined based on the following vehicle's acceleration and turn signal status; When the turn signal of the following vehicle is on, the relative speed value reaches a preset relative speed threshold, and the overtaking intention score reaches a preset overtaking threshold, it is determined that the conditions for a level two warning are met.

[0011] This embodiment combines the parallel duration, the turn signal status of the following vehicle, the relative speed value, and the overtaking intention score to jointly determine that the parallel warning level reaches the level two warning level. It realizes multi-dimensional information fusion judgment, reduces the error caused by single factor judgment, can dynamically adapt to different driving scenarios, and improves the accuracy of the level two warning level.

[0012] Furthermore, the parallel warning level also includes a three-level warning level; the target duration threshold includes a three-level duration threshold, which is greater than the two-level duration threshold corresponding to the two-level warning condition; the following vehicle driving information includes the following vehicle speed; the three-level warning conditions corresponding to the three-level warning level include acceleration warning conditions and deceleration warning conditions; after updating the parallel warning level to the two-level warning level, it also includes: When the parallel duration reaches the third-level duration threshold, the relative speed value between the target vehicle and the vehicle behind is obtained, as well as the speed limit information and adjacent vehicle type information in the driving environment information. Based on the speed limit information, the acceleration warning threshold and deceleration warning threshold are determined. When it is determined that the target vehicle meets the acceleration warning condition or the deceleration warning condition, the parallel warning level is updated to the third-level warning level; wherein, meeting the acceleration warning condition means that the target vehicle's own speed is less than the acceleration warning threshold and the relative speed value reaches the preset relative speed threshold; meeting the deceleration warning condition means that the target vehicle's own speed is greater than or equal to the deceleration warning threshold and the adjacent vehicle type information is a large vehicle.

[0013] This embodiment combines the parallel duration, relative speed value, speed limit information, and adjacent vehicle type information to jointly determine that the parallel warning level reaches the level three warning level, and further divides it into acceleration warning prompts and deceleration warning prompts, which can dynamically adapt to different driving scenarios and improve the accuracy of the level three warning level.

[0014] Furthermore, the parallel warning levels include a first-level warning level, which is the lowest parallel warning level; after controlling the target vehicle to execute the warning operation corresponding to the parallel warning level, the method further includes: If a driving adjustment operation signal is received within the preset waiting time, then if the parallel warning level is not the first-level warning level, the parallel warning level will be downgraded step by step, and a warning operation will be performed according to the downgraded parallel warning level. If a driving adjustment operation signal is received within the preset waiting time, the warning operation will be stopped when the parallel warning level is the first-level warning level.

[0015] In this embodiment, when a driving adjustment operation signal is received within a preset waiting time, the parallel warning level is downgraded step by step. When the current parallel warning level is determined to be a level one warning level, the warning operation is stopped. This allows for targeted processing of the current parallel warning level, distinguishing between different warning levels and making different decisions, thus demonstrating intelligent analysis and decision-making.

[0016] Further, the preset parallel indicator values ​​include a preset lateral distance threshold, a preset speed difference threshold, and a preset duration threshold; the driving environment information includes road type information, weather information, and traffic density; the target parallel indicator values ​​include a target lateral distance threshold, a target speed difference threshold, and a target duration threshold; determining the target parallel indicator value from the preset parallel indicator values ​​based on the driving environment information includes: The target lateral distance threshold is determined based on the preset lateral distance threshold, road type information, weather information, and traffic density. The target speed difference threshold is determined based on the preset speed difference threshold and weather information; The target duration threshold is determined based on the preset duration threshold, weather information, and traffic density.

[0017] This embodiment considers the influence of different factors on different preset parallel indicator values ​​to determine the actual target parallel indicator value, which can dynamically adapt to different driving scenarios and improve the flexibility and rationality of parallel monitoring.

[0018] A vehicle parallel warning device, comprising: The information acquisition module is used to acquire the target vehicle's own driving information and driving environment information, as well as the driving information of neighboring vehicles in adjacent lanes. The indicator value determination module is used to determine the target parallel indicator value from the preset parallel indicator values ​​based on the driving environment information. The target parallel indicator value is a quantitative threshold value of the influencing factors used to determine whether the target vehicle is in parallel with the vehicle in the adjacent lane and to determine whether a warning prompt needs to be issued. The parallel warning module is used to determine the parallel warning level based on the target parallel indicator value, the vehicle's driving information and the neighboring vehicle's driving information, and control the target vehicle to perform the warning operation corresponding to the parallel warning level.

[0019] An electronic device includes a processor and a memory, wherein Memory, used to store computer programs; The processor is used to execute the program stored in the memory to implement the above-mentioned parallel vehicle warning method.

[0020] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle parallel warning method. Attached Figure Description

[0021] Figure 1 This is a flowchart of a vehicle parallel warning method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating step S103 of a vehicle parallel warning method provided in an embodiment of this application; Figure 3 This is a flowchart illustrating step S202 of the vehicle parallel warning method provided in an embodiment of this application; Figure 4 This is a flowchart illustrating step S203 of a vehicle parallel warning method provided in an embodiment of this application; Figure 5 This is a flowchart illustrating step S402 of the vehicle parallel warning method provided in an embodiment of this application; Figure 6 This is another flowchart illustrating step S402 in the vehicle parallel warning method provided in an embodiment of this application; Figure 7 This is another flowchart illustrating step S103 in the vehicle parallel warning method provided in an embodiment of this application; Figure 8 This is a flowchart illustrating step S102 of the vehicle parallel warning method provided in an embodiment of this application; Figure 9This is a flowchart illustrating step S801 of a vehicle parallel warning method provided in an embodiment of this application; Figure 10 This is a flowchart illustrating step S802 of the vehicle parallel warning method provided in an embodiment of this application; Figure 11 This is a flowchart illustrating step S803 of a vehicle parallel warning method provided in an embodiment of this application; Figure 12 This is a flowchart illustrating step S101 of a vehicle parallel warning method provided in an embodiment of this application; Figure 13 This is a structural diagram of the vehicle parallel warning device provided in the embodiments of this application; Figure 14 This is a structural diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] Terminology Explanation In this application, the vehicle parallel warning method is applied to the vehicle's Electronic Control Unit (ECU). The ECU communicates with both a data acquisition component and a vehicle warning function component. The data acquisition component is a terminal used to acquire data in real time, including but not limited to millimeter-wave radar, cameras, vehicle-to-everything (V2X) terminals, navigation map terminals, position sensors, and speed sensors. The vehicle warning function component refers to components used to implement warning prompts by executing specified actions, including but not limited to the instrument panel, central control display, turn signals, speakers, and steering wheel.

[0024] Specifically, in a vehicle driving scenario, the electronic control unit acquires the target vehicle's own driving information and driving environment information, as well as the neighboring vehicle driving information of vehicles in adjacent lanes, through the data acquisition component; based on the driving environment information, it determines the target parallel indicator value from the preset parallel indicator values; based on the target parallel indicator value, the own vehicle driving information, and the neighboring vehicle driving information, it determines the parallel warning level and controls the target vehicle's vehicle warning function component to execute the warning operation corresponding to the determined parallel warning level.

[0025] The target vehicle refers to the vehicle itself, and its driving information refers to various data parameters used to characterize its motion state and position during its movement. Vehicle driving information includes, but is not limited to, its position, speed, and acceleration. Adjacent lane vehicles refer to vehicles in the lanes directly to the left and right of the target vehicle. Adjacent lane vehicle driving information consists of various data parameters used to characterize the motion state and position of these vehicles. Adjacent lane vehicle driving information includes, but is not limited to, their position, speed, and acceleration. The vehicle's position and adjacent lane vehicle positions are the coordinates of the vehicle itself and the adjacent lane vehicles, respectively, within the same reference coordinate system. Specifically, a reference coordinate system is established with the vehicle's center position as the origin, where the vehicle's position is (0,0,0) and the adjacent vehicle positions are (x,y,z). When multiple adjacent lane vehicles exist simultaneously, each adjacent lane vehicle is assigned a number; for example, the adjacent lane vehicle with number 1 has an adjacent vehicle position of (x1,y1,z1).

[0026] Driving environment information describes the actual characteristics of the surrounding environment of a vehicle during driving. This information includes, but is not limited to, road type information, weather information, traffic density, speed limit information, and neighboring vehicle type information. Specifically, road type information, weather information, traffic density, and speed limit information can be obtained through navigation maps, while neighboring vehicle type information can be obtained through image analysis captured by cameras. Road type information describes the actual type of road the vehicle is on, categorized into urban roads and highways. Highways refer to roads on expressways. Urban roads refer to other types of roads besides highways, including national highways, provincial highways, and unnamed roads. Weather information describes the weather conditions during driving, categorized as sunny during the day and cloudy during the day. Traffic density describes the traffic congestion within a specified range during driving, categorized as low density and high density. Low density means the number of vehicles in a lane within a specified distance has not yet reached the low density threshold, while high density means the number of vehicles in a lane within a specified distance has reached the high density threshold. Specifically, the pre-set low-density threshold is 20 vehicles per kilometer per lane, and the high-density threshold is 30 vehicles per kilometer per lane. Speed ​​limit information refers to the actual speed limit on the road when vehicles are traveling, for example, a speed limit of 60 kilometers per hour. Adjacent vehicle type information distinguishes the types of vehicles in adjacent lanes based on their size, categorized into large vehicles and small vehicles, for example, based on the length and height of the vehicles in adjacent lanes. Specifically, the pre-set vehicle length threshold is 6 meters, and the vehicle height threshold is 2.5 meters. When the length of an adjacent vehicle is greater than or equal to 6 meters, and the height of an adjacent vehicle is greater than or equal to 2.5 meters, the adjacent vehicle is considered a large vehicle; otherwise, it is considered a small vehicle.

[0027] In this application, the parallelism index is an influencing factor used to determine whether a vehicle is in parallel with vehicles in adjacent lanes and whether a warning should be issued. Each parallelism index corresponds to one or more selectable preset parallelism index values, so that a preset parallelism index value can be selected as the target parallelism index value based on the actual driving environment information. The preset parallelism index value is a pre-set quantitative threshold value corresponding to different parallelism indices. That is, the preset parallelism index value is a pre-set quantitative threshold value for influencing factors used to determine whether a vehicle is in parallel with vehicles in adjacent lanes and whether a warning should be issued. The preset parallelism index values ​​include, but are not limited to, preset lateral distance thresholds, preset longitudinal distance thresholds, preset speed difference thresholds, and preset duration thresholds. Different dimensions of influencing factors are affected by different driving environment information, and the preset parallelism index value corresponding to each parallelism index will change under different driving scenarios. The preset parallelism index value includes the quantitative threshold values ​​corresponding to each parallelism index under the influence of different driving environment information. For example, when the parallelism index is lateral distance and speed difference, the preset parallelism index value includes one or more lateral distance quantitative threshold values ​​corresponding to different driving environment information, and one or more speed difference quantitative threshold values ​​corresponding to different driving environment information. The target parallelism index value refers to the actual critical value of the parallelism index considering the influence of driving environment information. Each parallelism index corresponds to a target parallelism index value, which is selected from preset parallelism index values ​​to match the driving environment information. Target parallelism index values ​​include, but are not limited to, target lateral distance threshold, target longitudinal distance threshold, target speed difference threshold, and target duration threshold. The target lateral distance threshold is the critical value used to measure whether a vehicle is in parallel with vehicles in adjacent lanes from a lateral distance perspective. The target longitudinal distance threshold is the critical value used to measure whether a vehicle is in parallel with vehicles in adjacent lanes from a longitudinal distance perspective. The target speed difference threshold is the critical value used to measure whether a vehicle is in parallel with vehicles in adjacent lanes from a speed and acceleration perspective. The target duration threshold is the critical value used to measure whether a warning should be issued when a vehicle is in parallel with vehicles in adjacent lanes from a time perspective.

[0028] In addition, the preset parallel indicator values ​​also include a preset contrast threshold. This threshold is a pre-set critical value used to determine whether a vehicle is in parallel with vehicles in adjacent lanes based on the clarity of lane lines. Environmental information also includes lane line contrast, which refers to the grayscale contrast in the lane line image of the vehicle's own lane. Lane line contrast is the ratio of the maximum to the minimum grayscale value in the image, reflecting the clarity of the lane lines compared to the road. If the lane line contrast has not reached the preset contrast threshold, it indicates that the lane lines are unclear, making it impossible to distinguish adjacent lanes and affecting the accuracy of parallel monitoring. In this case, the electronic control unit generates a parallel warning failure message. The parallel warning failure message indicates that it is impossible to determine whether the vehicle is in parallel with vehicles in adjacent lanes, and the subsequent processes of the vehicle parallel warning method are not performed at this time. When the lane line contrast reaches the preset contrast threshold, the subsequent processes of the vehicle parallel warning method continue.

[0029] Parallelism warning levels refer to the different warning prompts used to distinguish between vehicles in adjacent lanes, assuming the vehicle is confirmed to be traveling parallel to another vehicle. Parallelism warning levels can be divided into two or more levels as needed. Specifically, there are three levels: Level 1, Level 2, and Level 3, with Level 1 being lower than Level 2, and Level 2 lower than Level 3. Different parallelism warning levels correspond to different warning actions. These actions are specific behaviors performed by vehicle components to alert the driver that the vehicle is traveling parallel to another vehicle. Warning actions can be visual, auditory, or tactile, and include, but are not limited to, text prompts displayed on the central control screen, traffic light prompts, speaker audible prompts, and steering wheel vibration prompts.

[0030] In this application, the lateral distance is the difference between the horizontal coordinate of the vehicle's position and the horizontal coordinate of the adjacent vehicle's position; the longitudinal distance is the difference between the vertical coordinate of the vehicle's position and the vertical coordinate of the adjacent vehicle's position; the speed difference is the difference between the speed of the vehicle and the speed of the adjacent vehicle; and the acceleration difference is the difference between the acceleration of the vehicle and the acceleration of the adjacent vehicle. The pending warning parallel state refers to the state in which the vehicle and the vehicle in the adjacent lane meet the parallel conditions in the lateral and longitudinal distance dimensions and the speed dimension. The parallel duration refers to the time during which the vehicle and the vehicle in the adjacent lane maintain the pending warning parallel state. After the vehicle is in the pending warning parallel state, the electronic control unit of the target vehicle further measures from the time dimension whether a warning prompt needs to be issued. If the parallel duration does not reach the target duration threshold, no warning prompt needs to be issued, and no specific parallel warning level needs to be determined. If the parallel duration reaches the target duration threshold, the specific parallel warning level needs to be further determined based on the parallel duration.

[0031] In this application, the target duration threshold includes duration thresholds corresponding to different parallel warning levels. For example, when parallel warning levels are divided into Level 1, Level 2, and Level 3 warning levels, the target duration threshold includes the Level 1 duration threshold corresponding to Level 1, the Level 2 duration threshold corresponding to Level 2, and the Level 3 duration threshold corresponding to Level 3. The Level 1 duration threshold refers to the critical value for determining whether the lowest level warning prompt in the parallel warning level needs to be issued from a time perspective. If the parallel duration reaches the Level 1 duration threshold, the parallel warning level can be determined as Level 1. That is, the Level 1 duration threshold is the criterion used to determine whether the prompting method of Level 1 warning level needs to be adopted. The Level 2 warning condition is the criterion used to determine whether the prompting method of Level 2 warning level needs to be adopted. Level 1 warning level only needs to consider the relationship between the target vehicle and vehicles in adjacent lanes, while Level 2 warning level also needs to consider the relationship between the target vehicle and vehicles behind it. Vehicles behind the target vehicle refer to vehicles within a specified distance behind the vehicle during its travel, including vehicles in its own lane and vehicles behind in adjacent lanes. The Level 2 warning condition includes the Level 2 duration threshold and a preset relative speed threshold. The Level 2 duration threshold refers to the critical value, measured from a time perspective, at which a Level 2 warning alert should be issued when a vehicle is in parallel with vehicles in adjacent lanes. Following vehicle driving information comprises various data parameters characterizing the motion state and position of vehicles behind. Following vehicle driving information includes, but is not limited to, following vehicle speed, following vehicle acceleration, and following vehicle turn signal status. Following vehicle turn signal status indicates whether the following vehicle's turn signal is on or off. The relative speed value is the difference between the following vehicle's speed and the vehicle's speed; a relative speed value greater than zero indicates the following vehicle is approaching, while a relative speed value less than zero indicates the following vehicle is moving away. The preset relative speed threshold refers to the critical value, measured from a speed perspective, at which a Level 2 warning alert should be issued when a vehicle is in parallel with vehicles in adjacent lanes. The overtaking intention score is a quantitative value characterizing the degree to which a following vehicle needs to overtake.

[0032] When the parallel warning levels include Level 1, Level 2, and Level 3 warning levels, if the parallel warning level reaches the Level 2 warning condition, it is necessary to further determine whether the Level 3 warning condition is met. The Level 3 warning condition is the criterion used to determine whether a Level 3 warning is required. The Level 3 warning level also needs to consider the relationship between the target vehicle and vehicles behind it. Level 3 warning conditions are divided into acceleration warning conditions and deceleration warning conditions. The acceleration warning condition is the criterion used to determine whether the driver needs to be prompted to accelerate, and the deceleration warning condition is the criterion used to determine whether the driver needs to be prompted to decelerate. Level 3 warning conditions include a Level 3 duration threshold, an acceleration warning threshold, and a deceleration warning threshold. The Level 3 duration threshold is the critical value used to determine whether a Level 3 warning is required when the target vehicle and vehicles in adjacent lanes are in parallel, from a time perspective. The acceleration warning threshold is the critical value used to determine whether the driver needs to be prompted to accelerate, and the deceleration warning threshold is the critical value used to determine whether the driver needs to decelerate, from a speed perspective. The acceleration warning threshold is less than the deceleration warning threshold, and the deceleration warning threshold is less than the speed limit value in the speed limit information.

[0033] The preset waiting time is a pre-set threshold value representing the maximum time a driver can wait for a response after a warning has been issued. Driving adjustment operation signals refer to driving operation signals generated when the driver actively adjusts speed or direction. Specifically, driving adjustment operation signals include at least one of the following: throttle increase pressure greater than or equal to 0.5 kN, brake increase pressure greater than or equal to 0.5 kN, and steering wheel angle greater than or equal to 5 degrees. Step-by-step downgrade processing refers to a processing method that reduces the warning level by one level at a time, such as downgrading a level 3 warning to a level 2 warning. Different warning operations are executed for specific durations; for example, the central control screen continuously displays a text prompt for 2 seconds, and the steering wheel continuously vibrates for 2 seconds. Ceasing warning operation means no further warning operation is performed, indicating that no warning is needed.

[0034] This application provides a vehicle parallel warning method, which is illustrated using the electronic control unit of the target vehicle as an example. Please refer to [link / reference]. Figure 1 This includes the following steps: S101: Obtain the target vehicle's own driving information and driving environment information, as well as the driving information of adjacent vehicles in adjacent lanes. S102: Based on the driving environment information, determine the target parallel index value from the preset parallel index values. The target parallel index value is a quantitative threshold value of influencing factors used to determine whether the target vehicle is in parallel with the vehicle in the adjacent lane and to determine whether a warning prompt needs to be issued. S103: Based on the target parallel indicator value, the vehicle's driving information, and the neighboring vehicle's driving information, determine the parallel warning level, and control the target vehicle to perform the warning operation corresponding to the parallel warning level.

[0035] Understandably, firstly, the electronic control unit (ECU) of the target vehicle acquires its own driving information and driving environment information, as well as the driving information of adjacent vehicles in adjacent lanes. Next, based on the driving environment information, the ECU changes one or more of the preset parallel indicator values ​​that are affected, while leaving one or more unaffected indicator values ​​unchanged, thus obtaining the target parallel indicator value. Finally, the ECU analyzes the own and adjacent vehicle driving information based on the target parallel indicator value, and when the vehicle is in a parallel state with vehicles in adjacent lanes, further determines the parallel warning level and the corresponding warning operation parameters. Based on the warning operation parameters, the ECU controls the vehicle to execute the warning operation corresponding to the parallel warning level. The warning operation parameters are control command parameters used to control designated components of the vehicle to execute warning prompt actions.

[0036] This embodiment monitors the driving information of vehicles in real time and adjacent lanes, dynamically adjusting parallel index values ​​using driving environment information. Combining driving information and parallel index values ​​allows for accurate identification of parallel driving states, ensuring comprehensiveness of parallel influencing factors and improving the accuracy of parallel monitoring results. Furthermore, this embodiment classifies different parallel warning levels and provides warning prompts corresponding to different levels, guiding drivers to adjust speed or change lanes accordingly. This addresses traffic congestion and safety hazards caused by prolonged parallel driving, contributing to improved road efficiency and driving safety.

[0037] In one embodiment, the vehicle's driving information includes its own position, speed, and acceleration, and the neighboring vehicle's driving information includes the neighboring vehicle's position, speed, and acceleration; please refer to... Figure 2 In step S103, namely, determining the parallel warning level based on the target parallel indicator value, the vehicle's driving information, and the neighboring vehicle's driving information, the following steps are included: S201: Determine the lateral distance, longitudinal distance, speed difference, and acceleration difference between the target vehicle and the vehicles in the adjacent lane; the lateral distance and longitudinal distance are determined by the position of the vehicle and the position of the adjacent vehicle, the speed difference is determined by the speed of the vehicle and the speed of the adjacent vehicle, and the acceleration difference is determined by the acceleration of the vehicle and the acceleration of the adjacent vehicle. S202: When the lateral distance value, longitudinal distance value, speed difference value, and acceleration difference value meet the target parallel index value, it is determined that the target vehicle is in a parallel state awaiting warning; S203: Obtain the parallel duration of the target vehicle in the pending warning parallel state, and determine the parallel warning level based on the parallel duration and the target duration threshold in the target parallel index value.

[0038] Understandably, the electronic control unit (ECU) of the target vehicle determines the lateral and longitudinal distance values ​​based on its own position in the vehicle's driving information and the positions of adjacent vehicles in the adjacent vehicle's driving information. It also determines the speed difference based on its own speed and the speeds of adjacent vehicles, and the acceleration difference based on its own acceleration and the accelerations of adjacent vehicles. When the lateral distance, longitudinal distance, speed difference, and acceleration difference meet the target parallelism index values, the ECU determines that the vehicle is in a pending warning parallelism state. Next, the ECU obtains the duration of the parallelism in the pending warning parallelism state and determines whether the parallelism duration reaches the minimum time threshold corresponding to the target duration threshold. If the parallelism duration does not reach the minimum time threshold, it indicates that although the vehicle is in parallel with vehicles in adjacent lanes, no warning is required; for example, the vehicle and adjacent vehicles may be briefly overtaking or meeting. If the parallelism duration reaches the minimum time threshold, it indicates that a warning is required. The ECU then determines the parallelism warning level based on the parallelism duration to provide warnings through warning operations corresponding to different parallelism warning levels.

[0039] This embodiment calculates the differences in multiple dimensions of driving parameters between the vehicle and vehicles in adjacent lanes using its own driving information and the driving information of neighboring vehicles. When the differences in driving parameters meet the target parallel index value, the vehicle is determined to be in a parallel state awaiting warning, ensuring the comprehensiveness of parallel monitoring and accurately determining the parallel state. Furthermore, the parallel warning level is determined based on the parallel duration and the target duration threshold, enabling refined classification of parallel monitoring levels and ensuring the accuracy of parallel warnings.

[0040] In one embodiment, the target parallel index values ​​include a target lateral distance threshold, a target longitudinal distance threshold, a target velocity difference threshold, and a target acceleration difference threshold; please refer to Figure 3 In step S202, namely, ensuring that the lateral distance value, longitudinal distance value, velocity difference value, and acceleration difference value meet the target parallel index value, the following steps are included: S301: Determine the target parallel index value when the following conditions are met simultaneously: The lateral distance value is less than or equal to the target lateral distance threshold; The longitudinal distance value is less than or equal to the target longitudinal distance threshold; The speed difference is less than or equal to the target speed difference threshold; The acceleration difference is less than or equal to the target acceleration difference threshold.

[0041] Understandably, in one specific embodiment, the target lateral distance threshold is 1.5 meters, the target longitudinal distance threshold is 10 meters, the target speed difference threshold is 10 kilometers per hour, and the target acceleration difference threshold is 2 meters per square second. When the lateral distance value is less than or equal to 1.5 meters, the longitudinal distance value is less than or equal to 10 meters, the speed difference value is less than or equal to 10 kilometers per hour, and the acceleration difference value is less than or equal to 2 meters per square second, it indicates that the vehicle is in parallel with the vehicle in the adjacent lane.

[0042] This embodiment performs threshold condition judgments on the lateral distance value, longitudinal distance value, speed difference value, and acceleration difference value respectively to ensure the accuracy of the vehicles being in parallel state.

[0043] In one embodiment, the parallel early warning levels include a Level 1 early warning level and a Level 2 early warning level; the target duration threshold includes a Level 1 duration threshold; please refer to... Figure 4 In step S203, namely, determining the parallel warning level based on the parallel duration and the target duration threshold in the target parallel index value, the following steps are included: S401: When the parallel duration reaches the first-level duration threshold, the parallel warning level is determined to be a first-level warning level; S402: After the parallel warning level reaches the first-level warning level, if it is determined that the parallel duration and the following vehicle's driving information meet the second-level warning conditions, then the parallel warning level is updated to the second-level warning level.

[0044] Understandably, when the parallel duration reaches the Level 1 duration threshold, the electronic control unit of the target vehicle determines the parallel warning level to Level 1 and simultaneously determines the warning operation parameters corresponding to Level 1. After the parallel warning level reaches Level 1, if it is determined that the parallel duration and the following vehicle's driving information meet the Level 2 warning conditions, the parallel warning level is updated to Level 2, and the warning operation parameters corresponding to Level 2 are determined. Specifically, the warning operation parameters corresponding to Level 1 include the instrument panel warning light illuminating (yellow warning strip brightness ≥ 100 cd / m²) and the side mirror lights flashing (0.5 Hz), lasting for 2 seconds. The warning operation parameters corresponding to Level 2 include a speaker beeping sound (gradually increasing from 40-60 dB) and steering wheel vibration (2 Hz), lasting for 2 seconds.

[0045] This embodiment determines the parallel warning level based on the parallel duration, indicating that it has reached the Level 1 warning level. This allows for a simple and quick determination of the lowest warning level and timely issuance of a minimum warning alert. Once the parallel warning level reaches Level 1, it further combines the parallel duration and following vehicle information to determine whether to upgrade the parallel warning level to Level 2. This level classification and upgrade mechanism helps provide differentiated warning alerts based on different risk levels, improving the flexibility of parallel monitoring.

[0046] In one embodiment, the following vehicle driving information includes the following vehicle speed, following vehicle acceleration, and following vehicle turn signal status; the target duration threshold includes a secondary duration threshold, the secondary duration threshold being greater than the primary duration threshold; please refer to... Figure 5 In step S402, determining that the parallel duration and the following vehicle's driving information meet the conditions for a level two warning includes the following steps: S501: When the parallel duration reaches the secondary duration threshold, determine the relative speed value between the target vehicle and the vehicle behind based on the speed of the following vehicle and the speed of the vehicle itself; S502: Determine the overtaking intention score based on the following vehicle's acceleration and turn signal status; S503: When the turn signal of the following vehicle is on, the relative speed value reaches a preset relative speed threshold, and the overtaking intention score reaches a preset overtaking threshold, it is determined that the conditions for a level two warning are met.

[0047] Understandably, when the parallel duration reaches the secondary duration threshold, the target vehicle's electronic control unit (ECU) calculates the difference between the following vehicle's speed and its own speed to determine the relative speed between the two vehicles. Next, the ECU determines an overtaking intention score based on the following vehicle's acceleration and turn signal status. Specifically, a weighted coefficient (e.g., 0.4) corresponding to the following vehicle's acceleration and a weighted coefficient (e.g., 0.6) corresponding to the following vehicle's turn signal status are preset, with a preset overtaking threshold of 0.8. A score of 1 is assigned when the following vehicle's turn signal is on, and a score of 0 is assigned when it is off; the following vehicle's acceleration value corresponds to the score for that acceleration. The ECU performs a weighted sum based on the weighted coefficients and scores corresponding to the following vehicle's acceleration and turn signal status to obtain the overtaking intention score. Finally, the ECU determines that the secondary warning conditions are met when the following vehicle's turn signal is on, the relative speed reaches the preset relative speed threshold, and the overtaking intention score reaches the preset overtaking threshold.

[0048] This embodiment combines the parallel duration, the turn signal status of the following vehicle, the relative speed value, and the overtaking intention score to jointly determine that the parallel warning level reaches the level two warning level. It realizes multi-dimensional information fusion judgment, reduces the error caused by single factor judgment, can dynamically adapt to different driving scenarios, and improves the accuracy of the level two warning level.

[0049] In one embodiment, the parallel warning level further includes a three-level warning level; the target duration threshold includes a three-level duration threshold, which is greater than the two-level duration threshold corresponding to the two-level warning condition; the following vehicle driving information includes the following vehicle speed; the three-level warning conditions corresponding to the three-level warning level include acceleration warning conditions and deceleration warning conditions; please refer to... Figure 6 In step S402, after updating the parallel early warning level to the level 2 early warning level, the following steps are also included: S601: When the parallel duration reaches the third-level duration threshold, obtain the relative speed value between the target vehicle and the vehicle behind, as well as the speed limit information and adjacent vehicle type information in the driving environment information, and determine the acceleration warning threshold and deceleration warning threshold based on the speed limit information. S602: When it is determined that the target vehicle meets the acceleration warning condition or the deceleration warning condition, the parallel warning level is updated to the third-level warning level; wherein, meeting the acceleration warning condition means that the target vehicle's own speed is less than the acceleration warning threshold and the relative speed value reaches the preset relative speed threshold; meeting the deceleration warning condition means that the target vehicle's own speed is greater than or equal to the deceleration warning threshold and the neighbor vehicle type information is a large vehicle.

[0050] Understandably, after the parallel warning level is updated to Level 2, and the parallel duration reaches the Level 3 duration threshold, the target vehicle's electronic control unit (ECU) acquires speed limit information and adjacent vehicle type information from the driving environment information, and determines acceleration and deceleration warning thresholds based on the speed limit information. Specifically, the acceleration warning threshold is 20 km / h lower than the speed limit value in the speed limit information, and the deceleration warning threshold is 10 km / h lower than the speed limit value in the speed limit information. Next, the ECU determines the relative speed between the target vehicle and the vehicle behind it based on the speed of the following vehicle and the target vehicle's own speed. When the vehicle's own speed is less than the acceleration warning threshold, and the relative speed value reaches a preset relative speed threshold, the parallel warning level is updated to Level 3, and the acceleration warning operation parameters corresponding to Level 3 are determined. The acceleration warning operation parameters can be displaying acceleration text or icons, such as a green arrow accelerating on the HUD or instrument panel, lasting for 2 seconds. When the vehicle's own speed is greater than or equal to the deceleration warning threshold, and the adjacent vehicle type information is a large vehicle, the parallel warning level is updated to Level 3, and the deceleration warning operation parameters corresponding to Level 3 are determined. The deceleration warning operation parameters can be to display acceleration text or icons, such as a blue arrow indicating deceleration on the HUD or dashboard, lasting for 2 seconds.

[0051] This embodiment combines the parallel duration, relative speed value, speed limit information, and adjacent vehicle type information to jointly determine that the parallel warning level reaches the level three warning level, and further divides it into acceleration warning prompts and deceleration warning prompts, which can dynamically adapt to different driving scenarios and improve the accuracy of the level three warning level.

[0052] In one embodiment, the parallel early warning levels include a first-level early warning level, which is the lowest parallel early warning level; please refer to Figure 7 In step S103, after controlling the target vehicle to perform the warning operation corresponding to the parallel warning level, the following steps are also included: S701: If a driving adjustment operation signal is received within a preset waiting time, then when the parallel warning level is not a first-level warning level, the parallel warning level will be downgraded step by step, and a warning operation will be performed according to the downgraded parallel warning level. S702: If a driving adjustment operation signal is received within the preset waiting time, the warning operation shall be stopped when the parallel warning level is the first-level warning level.

[0053] Understandably, after controlling the vehicle to execute a warning operation corresponding to the parallel warning level, the target vehicle's electronic control unit (ECU) determines whether a driving adjustment operation signal has been received within a preset waiting time. If no driving adjustment operation signal is received within the preset waiting time, it indicates that the driver considers the warning prompt negligible, and the warning operation is stopped. If a driving adjustment operation signal is received within the preset waiting time, it is necessary to further determine whether the current parallel warning level is a Level 1 warning. If the current parallel warning level is not a Level 1 warning, the ECU will downgrade the parallel warning level step by step and execute the warning operation according to the downgraded parallel warning level. If the current parallel warning level is a Level 1 warning, the warning operation is stopped.

[0054] In this embodiment, when a driving adjustment operation signal is received within a preset waiting time, the parallel warning level is downgraded step by step. When the current parallel warning level is determined to be the lowest warning level, the warning operation is stopped. This allows for targeted processing of the current parallel warning level, distinguishing different warning levels and making different decisions, thus demonstrating intelligent analysis and decision-making.

[0055] In one embodiment, the preset parallel index values ​​include a preset lateral distance threshold, a preset speed difference threshold, and a preset duration threshold; the driving environment information includes road type information, weather information, and traffic density; the target parallel index values ​​include a target lateral distance threshold, a target speed difference threshold, and a target duration threshold; please refer to... Figure 8 In step S102, namely, determining the target parallel index value from the preset parallel index values ​​based on the driving environment information, the following steps are included: S801: Determine the target lateral distance threshold based on the preset lateral distance threshold, road type information, weather information, and traffic density; S802: Determine the target speed difference threshold based on the preset speed difference threshold and weather information; S803: Determine the target duration threshold based on the preset duration threshold, weather information, and traffic density.

[0056] Understandably, the electronic control unit (ECU) of the target vehicle determines the target lateral distance threshold by considering the impact of road type information, weather information, and traffic density on a preset lateral distance threshold. The ECU also determines the target speed difference threshold by considering the impact of weather information on a preset speed difference threshold. Finally, the ECU determines the target duration threshold by considering the impact of weather information and traffic density on a preset duration threshold.

[0057] This embodiment considers the influence of different factors on different preset parallel indicator values ​​to determine the actual target parallel indicator value, which can dynamically adapt to different driving scenarios and improve the flexibility and rationality of parallel monitoring.

[0058] In one embodiment, the preset lateral distance threshold includes a first lateral distance threshold, a second lateral distance threshold, a third lateral distance threshold, and a fourth lateral distance threshold that increase sequentially; please refer to... Figure 9 In step S801, namely, determining the target lateral distance threshold based on the preset lateral distance threshold, road type information, weather information, and traffic density, the following steps are included: S901: When the road type information is urban road, if the traffic density information is high density or the weather information is not sunny during the day, then the first lateral distance threshold is determined as the target lateral distance threshold. S902: When the road type information is urban road, if the traffic density information is low density and the weather information is sunny during the day, then the second lateral distance threshold is determined as the target lateral distance threshold. S903: When the road type information is a highway, if the traffic density information is high density or the weather information is not sunny during the day, then the third lateral distance threshold is determined as the target lateral distance threshold. S904: When the road type information is a highway, if the traffic density information is low and the weather information is sunny during the day, then the fourth lateral distance threshold is determined as the target lateral distance threshold.

[0059] Understandably, the preset lateral distance thresholds include a first lateral distance threshold, a second lateral distance threshold, a third lateral distance threshold, and a fourth lateral distance threshold, each corresponding to different driving scenarios. Default values ​​can be set, or adjustments can be made as needed. Specifically, the second lateral distance threshold is greater than the first lateral distance threshold, the third lateral distance threshold is greater than or equal to the second lateral distance threshold, and the fourth lateral distance threshold is greater than the third lateral distance threshold. For example, the first lateral distance threshold could be 1 meter, the second lateral distance threshold could be 1.5 meters, the third lateral distance threshold could be 1.8 meters, and the fourth lateral distance threshold could be 2 meters.

[0060] This embodiment comprehensively considers the impact of road type information, weather information, and traffic density on the index value of the lateral distance dimension to determine the target lateral distance threshold under different driving scenarios, ensuring the applicability of the target lateral distance threshold and helping to improve the accuracy of subsequent parallel monitoring.

[0061] In one embodiment, the preset speed difference threshold includes a first speed difference threshold and a second speed difference threshold, wherein the second speed difference threshold is greater than the first speed difference threshold; please refer to Figure 10 In step S802, namely determining the target speed difference threshold based on the preset speed difference threshold and weather information, the following steps are included: S1001: When the weather information is sunny during the day, the first speed difference threshold is determined as the target speed difference threshold; S1002: When the weather information is not sunny during the day, the second speed difference threshold is determined as the target speed difference threshold.

[0062] Understandably, the preset speed difference thresholds include a first speed difference threshold and a second speed difference threshold, each corresponding to different driving scenarios. Default values ​​can be set, or adjustments can be made as needed. The second speed difference threshold is greater than the first speed difference threshold. For example, the first speed difference threshold could be 10 km / h, and the second speed difference threshold could be 15 km / h.

[0063] This embodiment considers the impact of weather information on the index values ​​of the speed dimension to determine the target speed difference threshold under different driving scenarios, ensuring the applicability of the target speed difference threshold and helping to improve the accuracy of subsequent parallel monitoring.

[0064] In one embodiment, the preset duration threshold includes a preset first-level time threshold, which comprises a first duration threshold, a second duration threshold, and a third duration threshold that increase sequentially; the target duration threshold includes the first-level duration threshold. Please refer to [reference needed]. Figure 11 In step S803, namely determining the target duration threshold based on the preset duration threshold, weather information, and traffic density, the following steps are included: S1101: When the weather information is not sunny during the day, the first duration threshold is determined as the first-level duration threshold; S1102: When the weather information is sunny during the day and the traffic density is low, the second duration threshold is determined as the first-level duration threshold. S1103: When the weather information is sunny during the day and the traffic density is high, the third duration threshold is determined as the first duration threshold.

[0065] Understandably, the preset duration threshold includes a preset first-level time threshold. The preset first-level time threshold refers to a pre-set threshold used in different driving scenarios to determine whether the lowest level of the parallel warning level needs to be issued from a time perspective. The preset first-level time threshold corresponds to the first-level warning level, which is the lowest parallel warning level. The preset first-level time threshold includes a first duration threshold, a second duration threshold, and a third duration threshold, each corresponding to different driving scenarios. Default values ​​can be set, or adjustments can be made as needed. The second duration threshold is greater than the first duration threshold, and the third duration threshold is greater than the second duration threshold. For example, the first duration threshold could be 2 seconds, the second duration threshold could be 3 seconds, and the third duration threshold could be 5 seconds.

[0066] Furthermore, when the parallel warning levels include Level 1, Level 2, and Level 3 warning levels, the preset duration thresholds also include a preset Level 2 time threshold and a preset Level 3 time threshold. Specifically, the preset Level 2 time threshold is greater than or equal to the Level 3 duration threshold (the maximum value among the preset Level 1 time thresholds), and the preset Level 2 time threshold is less than the preset Level 3 time threshold. The target duration threshold includes both Level 2 and Level 3 duration thresholds. The electronic control unit determines the preset Level 2 time threshold as the Level 2 duration threshold and the preset Level 3 time threshold as the Level 3 duration threshold.

[0067] This embodiment comprehensively considers the impact of weather information and traffic density on the time dimension index values ​​to determine the target duration threshold under different driving scenarios, ensuring the applicability of the target duration threshold and helping to improve the accuracy of subsequent parallel monitoring.

[0068] In one embodiment, the preset parallel indicator value includes a preset contrast threshold, and the driving environment information includes lane line contrast; please refer to Figure 12 In step S101, after obtaining the target vehicle's own driving information and driving environment information, as well as the neighboring vehicle driving information of vehicles in adjacent lanes, the following steps are also included: S1201: When the lane line contrast has not yet reached the preset contrast threshold, generate parallel warning failure information; Step S102, namely determining the target parallel index value from the preset parallel index values ​​based on the driving environment information, includes the following steps: S1202: When the lane line contrast reaches the preset contrast threshold, a target parallel index value is determined from the preset parallel index values ​​based on the driving environment information.

[0069] Understandably, the driving environment information includes lane line contrast, which is the result of grayscale analysis of a real-time acquired image containing the lane line where the vehicle is located. After acquiring the vehicle's own driving information, driving environment information, and the driving information of adjacent vehicles in adjacent lanes, the target vehicle's electronic control unit (ECU) acquires the lane line contrast from the driving environment information and compares it with a preset contrast threshold. If the lane line contrast has not reached the preset contrast threshold, it indicates that the lane lines are unclear, making it impossible to distinguish adjacent lanes and affecting the accuracy of parallel monitoring; in this case, the ECU generates a parallel warning failure message. If the lane line contrast reaches the preset contrast threshold, the subsequent process of the vehicle parallel warning method continues, i.e., determining the target parallel indicator value based on the preset parallel indicator value and the driving environment information.

[0070] In this embodiment, if the lane line contrast does not reach the preset contrast threshold, the subsequent processes of the vehicle parallel warning method are not performed, thus avoiding erroneous parallel warnings due to inaccurate identification. When the lane line contrast reaches the preset contrast threshold, the subsequent processes can be performed promptly based on the preset parallel indicator value, ensuring the accuracy and effectiveness of parallel monitoring.

[0071] In one specific embodiment, the parallel vehicle warning method is applied to the electronic control unit (ECU) of the target vehicle. The ECU communicates with both the data acquisition components and the vehicle warning function components. The data acquisition components include millimeter-wave radar, a camera, a V2X terminal, a navigation map terminal, a position sensor, and a speed sensor. The vehicle warning function components include an instrument panel, a central control display screen, traffic lights, a speaker, and a steering wheel. The millimeter-wave radar is used to collect information about adjacent vehicles in adjacent lanes (such as their position, speed, and acceleration). The camera and navigation map terminal are used to collect driving environment information. The V2X terminal is used to collect information about vehicles behind the vehicle. The position and speed sensors are used to collect the vehicle's own driving information. The instrument panel and central control display screen display text prompts, the traffic lights provide visual prompts, the speaker provides audible warnings, and the steering wheel provides vibration prompts.

[0072] Specifically, for millimeter-wave radar, the detection range is ±3 meters lateral distance covered by side radar adjacent lanes, and 100 meters longitudinally, with a refresh rate greater than or equal to 10Hz. Accuracy requirements are a lateral distance error less than or equal to 0.2 meters and a speed error less than or equal to 1 kilometer per hour. For cameras, the resolution is 1920×1080 pixels, and the frame rate is greater than or equal to 30fps. Camera image recognition includes detecting lane line type (solid / dashed), width (typically 30-50cm), and curvature (0-0.02m⁻¹). Vehicle type is distinguished between small vehicles (e.g., sedans, SUVs) and large vehicles (trucks, buses) based on size characteristics (length greater than or equal to 6 meters, height greater than or equal to 2.5 meters). The V2X communication module updates once per second, and the data includes the following vehicle ID, position, speed, acceleration, and turn signal status. Upon receiving a vehicle start signal or sensor parameter configuration file, the electronic control unit calibrates the sensors, including calibrating the coordinate systems and time synchronization of the millimeter-wave radar, camera, and IMU (error less than or equal to 0.1 meters / 5 ms). Data processing by the electronic control unit includes: projecting the radar point cloud and camera image onto a bird's-eye view coordinate system for fusion, unifying the coordinate system (error less than or equal to 0.2 meters); and continuously tracking the status of vehicles in adjacent lanes based on Kalman filtering and deep learning fusion (such as PointPainting).

[0073] When the electronic control unit performs parallel state determination and risk assessment, it first determines the lateral distance: comparing the lateral distance between vehicles in adjacent lanes with a threshold (less than or equal to 1.5 meters on urban roads, less than or equal to 2.0 meters on highways). Next, it determines the longitudinal distance: comparing the longitudinal distance between vehicles in adjacent lanes with a threshold (less than or equal to 10 meters). Then, it determines the speed difference and acceleration difference: the speed difference is less than or equal to 10 km / h, and the acceleration difference is less than or equal to 2 m / s². Finally, it determines the duration: a duration greater than or equal to 3 seconds triggers a Level 1 warning, a duration greater than or equal to 5 seconds triggers a Level 2 warning, and a duration greater than or equal to 10 seconds triggers a Level 3 warning. Rear vehicle data analysis includes: turn signal activation, relative speed difference greater than or equal to 15 km / h, and overtaking intent score (a score greater than or equal to 0.8 indicates an overtaking request). The Level 1 warning corresponds to a visual cue: a yellow warning bar on the instrument panel (brightness ≥ 100 cd / m²) and side mirror lights flashing at 0.5 Hz for 2 seconds. The Level 2 warning system provides auditory and tactile cues: a gradually increasing 40-60 dB speaker beep and a 2 Hz steering wheel vibration lasting 2 seconds. The Level 3 warning system provides visual dynamic cues: when the vehicle's speed is less than the "speed limit minus 20 km / h" and the overtaking score behind reaches the threshold, an acceleration suggestion is provided, with a green arrow for acceleration displayed on the HUD; when the vehicle's speed is greater than or equal to the "speed limit minus 10 km / h" and the adjacent lane contains a large vehicle, a deceleration suggestion is provided, with a blue arrow for deceleration displayed on the HUD.

[0074] After the electronic control unit (ECU) controls the vehicle to execute the warning operation corresponding to the parallel warning level, if it detects a driver adjustment signal (accelerator / brake pressure change greater than or equal to 0.5 kN, steering wheel angle change greater than or equal to 5 degrees), it will perform a step-down processing. Furthermore, when an accelerator / brake pressure change greater than or equal to 0.5 kN is detected, the instrument panel displays acceleration or deceleration guidance suggestions, such as adjusting acceleration (less than or equal to 2 m / s²). When a steering wheel angle change greater than or equal to 5 degrees is detected, the central control screen displays a lane change assist route (ensuring lateral deviation less than or equal to 0.5 meters, and a lane change time window greater than or equal to 3 seconds).

[0075] This application also provides a vehicle parallel warning device 130, please refer to... Figure 13The system includes: an information acquisition module 131, used to acquire the target vehicle's own driving information and driving environment information, as well as the neighboring vehicle driving information of vehicles in adjacent lanes; an index value determination module 132, used to determine a target parallel index value from preset parallel index values ​​based on the driving environment information, wherein the target parallel index value is a quantitative threshold value for determining whether the target vehicle is in parallel with the vehicles in adjacent lanes, and for determining whether a warning prompt needs to be issued; and a parallel warning module 133, used to determine a parallel warning level based on the target parallel index value, the own vehicle driving information, and the neighboring vehicle driving information, and control the target vehicle to perform a warning operation corresponding to the parallel warning level.

[0076] This application also provides an electronic device 140, please refer to... Figure 14 The device includes a memory 141 and a processor 142. The memory 141 stores computer programs, and the processor 142 executes the programs stored in the memory 141 to implement the vehicle parallel warning method described in any embodiment of this application. The electronic device 140 may be a vehicle, and the processor 142 may be a vehicle electronic control unit.

[0077] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle parallel warning method described in any embodiment of this application.

[0078] In this application, "multiple" refers to two or more.

[0079] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0080] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0081] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for parallel vehicle warning, characterized in that, include: Obtain the target vehicle's own driving information and driving environment information, as well as the driving information of adjacent vehicles in adjacent lanes; Based on the driving environment information, a target parallel index value is determined from the preset parallel index values. The target parallel index value is a quantitative threshold value of influencing factors used to determine whether the target vehicle is in parallel with the vehicle in the adjacent lane and to determine whether a warning prompt needs to be issued. Based on the target parallel indicator value, the vehicle's driving information, and the neighboring vehicle's driving information, a parallel warning level is determined, and the target vehicle is controlled to perform a warning operation corresponding to the parallel warning level.

2. The vehicle parallel early warning method according to claim 1, characterized in that, The vehicle's driving information includes its own position, speed, and acceleration; the neighboring vehicle's driving information includes the neighboring vehicle's position, speed, and acceleration. The step of determining the parallel warning level based on the target parallel indicator value, the vehicle's driving information, and the neighboring vehicle's driving information includes: The lateral distance, longitudinal distance, speed difference, and acceleration difference between the target vehicle and the vehicles in the adjacent lane are determined; the lateral distance and longitudinal distance are determined by the position of the vehicle and the position of the adjacent vehicle, the speed difference is determined by the speed of the vehicle and the speed of the adjacent vehicle, and the acceleration difference is determined by the acceleration of the vehicle and the acceleration of the adjacent vehicle. When the lateral distance value, longitudinal distance value, speed difference value, and acceleration difference value meet the target parallel index value, the target vehicle is determined to be in a parallel state awaiting warning. The parallel duration of the target vehicle in the pending warning parallel state is obtained, and the parallel warning level is determined based on the parallel duration and the target duration threshold in the target parallel index value.

3. The vehicle parallel early warning method according to claim 2, characterized in that, The parallel early warning levels include a Level 1 early warning level and a Level 2 early warning level; the target duration threshold includes a Level 1 duration threshold; The step of determining the parallel warning level based on the parallel duration and the target duration threshold in the target parallel indicator value includes: When the parallel duration reaches the first-level duration threshold, the parallel warning level is determined to be a first-level warning level; After the parallel warning level reaches the first-level warning level, if it is determined that the parallel duration and the following vehicle's driving information meet the conditions for a second-level warning, then the parallel warning level will be updated to the second-level warning level.

4. The vehicle parallel early warning method according to claim 3, characterized in that, The following vehicle driving information includes the following vehicle speed, following vehicle acceleration, and following vehicle turn signal status; the target duration threshold includes a secondary duration threshold, and the secondary duration threshold is greater than the primary duration threshold. The determination that the parallel duration and the following vehicle's driving information meet the conditions for a Level 2 warning includes: When the parallel duration reaches the secondary duration threshold, the relative speed value between the target vehicle and the vehicle behind is determined based on the speed of the following vehicle and the speed of the vehicle itself. The score for overtaking intent is determined based on the following vehicle's acceleration and turn signal status; When the turn signal of the following vehicle is on, the relative speed value reaches a preset relative speed threshold, and the overtaking intention score reaches a preset overtaking threshold, it is determined that the conditions for a level two warning are met.

5. The vehicle parallel warning method according to claim 3, characterized in that, The parallel warning level also includes a three-level warning level; the target duration threshold includes a three-level duration threshold, which is greater than the two-level duration threshold corresponding to the two-level warning condition; the following vehicle driving information includes the following vehicle speed; the three-level warning conditions corresponding to the three-level warning level include acceleration warning conditions and deceleration warning conditions; After updating the parallel early warning level to the level two early warning level, the method further includes: When the parallel duration reaches the third-level duration threshold, the relative speed value between the target vehicle and the vehicle behind is obtained, as well as the speed limit information and adjacent vehicle type information in the driving environment information. Based on the speed limit information, the acceleration warning threshold and deceleration warning threshold are determined. When it is determined that the target vehicle meets the acceleration warning condition or the deceleration warning condition, the parallel warning level is updated to the third-level warning level; wherein, meeting the acceleration warning condition means that the target vehicle's own speed is less than the acceleration warning threshold and the relative speed value reaches the preset relative speed threshold; meeting the deceleration warning condition means that the target vehicle's own speed is greater than or equal to the deceleration warning threshold and the adjacent vehicle type information is a large vehicle.

6. The vehicle parallel early warning method according to claim 1, characterized in that, The parallel early warning levels include a first-level early warning level, which is the lowest parallel early warning level; After controlling the target vehicle to perform the warning operation corresponding to the parallel warning level, the method further includes: If a driving adjustment operation signal is received within the preset waiting time, then if the parallel warning level is not the first-level warning level, the parallel warning level will be downgraded step by step, and a warning operation will be performed according to the downgraded parallel warning level. If a driving adjustment operation signal is received within the preset waiting time, the warning operation will be stopped when the parallel warning level is the first-level warning level.

7. The vehicle parallel early warning method according to claim 1, characterized in that, The preset parallel index values ​​include a preset lateral distance threshold, a preset speed difference threshold, and a preset duration threshold; the driving environment information includes road type information, weather information, and traffic density; the target parallel index values ​​include a target lateral distance threshold, a target speed difference threshold, and a target duration threshold. The step of determining the target parallel indicator value from preset parallel indicator values ​​based on the driving environment information includes: The target lateral distance threshold is determined based on the preset lateral distance threshold, road type information, weather information, and traffic density. The target speed difference threshold is determined based on the preset speed difference threshold and weather information; The target duration threshold is determined based on the preset duration threshold, weather information, and traffic density.

8. A vehicle parallel warning device, characterized in that, include: The information acquisition module is used to acquire the target vehicle's own driving information and driving environment information, as well as the driving information of neighboring vehicles in adjacent lanes. The indicator value determination module is used to determine the target parallel indicator value from the preset parallel indicator values ​​based on the driving environment information. The target parallel indicator value is a quantitative threshold value of the influencing factors used to determine whether the target vehicle is in parallel with the vehicle in the adjacent lane and to determine whether a warning prompt needs to be issued. The parallel warning module is used to determine the parallel warning level based on the target parallel indicator value, the vehicle's driving information and the neighboring vehicle's driving information, and control the target vehicle to perform the warning operation corresponding to the parallel warning level.

9. An electronic device, characterized in that, Including processor and memory, among which Memory, used to store computer programs; A processor is used to execute a program stored in memory to implement the vehicle parallel warning method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the vehicle parallel warning method according to any one of claims 1-7.

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