Method and device for lane change assistance of a vehicle

Abstract

The present invention relates to a method and device for lane change assistance of a vehicle, the method comprising: determining a lane change safety status corresponding to a current lane change behavior of the vehicle; dynamically displaying the lane change safety status. This ensures that the driver is dynamically informed of changes in the danger level throughout an entire lane change process.

Description

TECHNICAL FIELD

[0001] The present invention relates to the assisted control of vehicles, in particular to a method and a device for lane change assistance of a vehicle. STATE OF THE ART

[0002] With the development of the automobile industry and the increasing improvement of the quality of life, vehicles have become more and more popular in people's daily lives. However, the vehicle is easily affected by other nearby vehicles while driving. For example, when changing lanes, if the following vehicle in the target lane is accelerating, traveling at a constant speed, or decelerating slightly, it may be difficult for the driver to intuitively judge the current situation. To avoid accidents, the driver can accelerate the vehicle to change lanes. However, sometimes changing lanes is difficult when the acceleration is insufficient and safety is affected by the close distance between vehicles, or when the driver decelerates the vehicle and waits until the opportunity to change lanes has passed.

[0003] To solve the above problem, the current technology proposes monitoring the distance to the following vehicle and then warning the driver with a buzzer if the distance is too close. This type of warning still does not allow the driver to intuitively and dynamically assess the risks of lane changes in real time. Thus, the driver is unable to better assess driving safety and thus adjust vehicle control in a timely manner.

[0004] Therefore, there is an urgent need for a method and device for visual assistance and warning that dynamically and in real time presents the driving risks when changing lanes to solve the above-mentioned problem.

[0005] It should be noted that the information disclosed in the "Prior Art" section above is intended only to enhance the understanding of the background of the present invention and may therefore contain information that is not part of the existing art known to those skilled in the art. SUMMARY OF THE INVENTION

[0006] To solve the problems existing in the prior art, the present invention provides a method and apparatus for lane change assistance of a vehicle. This ensures that the driver can be dynamically informed of changes in the hazard level throughout the entire lane change process.

[0007] The present invention proposes a method for lane change assistance of a vehicle, comprising: determining a lane change safety status corresponding to a current lane change behavior of the vehicle; dynamically displaying the lane change safety status determined in real time.

[0008] In some embodiments, dynamically displaying the determined lane change safety status comprises: dynamically displaying a safety level of the lane change safety status on a display device of the vehicle.

[0009] In some embodiments, dynamically indicating the determined lane change safety status comprises: changing an indicator from a first, last-time determined lane change safety status to a second, currently determined lane change safety status under control when the lane change safety status changes.

[0010] In some embodiments, the first lane change safety status and the second lane change safety status represent the lane change safety statuses with different danger levels, wherein changing an indicator from a lane change safety status determined at the last time to a lane change safety status determined at the current time under a controller comprises: moving the indicator from a first indication area corresponding to the first lane change safety status to a second indication area corresponding to the second lane change safety status under a controller.

[0011] In some embodiments, the first lane change safety status and the second lane change safety status represent the lane change safety statuses with the same degree of danger, wherein changing an indicator from a lane change safety status determined at the last time to a lane change safety status determined at the current time under a controller comprises: moving the indicator from a first indicator location corresponding to the first lane change safety status to a second indicator location corresponding to the second lane change safety status under a controller.

[0012] In some embodiments, the distance between the first cue point and the second cue point positively correlates with the degree of danger between the first lane change safety status and the second lane change safety status.

[0013] In some embodiments, determining a lane change safety status corresponding to a current lane change behavior of the vehicle comprises: detecting a first driving speed and a first acceleration of a vehicle to be changed lanes, and a second driving speed and a second acceleration of a target vehicle in a target lane; determining a lane change safety status corresponding to a current lane change behavior of the vehicle to be changed lanes, according to the first driving speed, the first acceleration, the second driving speed, and the second acceleration.

[0014] In some embodiments, determining a lane change safety status corresponding to the lane-changing vehicle according to the first traveling speed, the first acceleration, the second traveling speed, and the second acceleration includes: determining a first travel distance of the lane-changing vehicle at the expected completion of the lane change according to the first traveling speed and the first acceleration; determining a second travel distance of the target vehicle at the expected completion of the lane change of the lane-changing vehicle according to the second traveling speed and the second acceleration; determining a lane change safety status corresponding to the current lane change behavior of the lane-changing vehicle according to the first traveling distance and the second traveling distance.

[0015] In some embodiments, determining a lane change safety status corresponding to the current lane change behavior of the lane-changing vehicle according to the first travel distance and the second travel distance includes: detecting an initial distance between the lane-changing vehicle and the target vehicle; determining a predicted distance between the lane-changing vehicle and the target vehicle according to the first travel distance, the second travel distance, and the initial distance; determining a safety level of the lane change safety status corresponding to the current lane change behavior of the lane-changing vehicle according to the predicted distance.

[0016] In some embodiments, determining a safety level of the lane change safety status corresponding to the current lane change behavior of the vehicle to be changed according to the predicted distance includes: determining a safety level of the lane change corresponding to the current lane change behavior of the vehicle to be changed according to the predicted distance and the distance threshold of the respective lane change safety level corresponding to the danger level.

[0017] In some embodiments, the method further comprises: capturing image information of the target vehicle on the target lane with an image capturing device; and determining the second traveling speed and the second acceleration of the target vehicle based on the image information of the target vehicle.

[0018] In some embodiments, the method further comprises: recording distance information of the target vehicle on the target lane with a radar measuring device; and determining the second driving speed and the second acceleration of the target vehicle based on the distance information of the target vehicle.

[0019] In some embodiments, the method further comprises: displaying the second acceleration and / or a change trend of the second acceleration of the target vehicle on the display device of the vehicle to be lane changed.

[0020] According to a further aspect of the present application, a device for lane change assistance of a vehicle is also proposed, which comprises: a determination module for determining a lane change safety status corresponding to a current lane change behavior of the vehicle; a display module for dynamically displaying the determined lane change safety status.

[0021] According to a further aspect of the present application, a computer device is further proposed which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the steps of the above-mentioned method for lane change assistance of a vehicle are carried out when the processor executes the program.

[0022] According to a further aspect of the present application, a computer-readable storage medium is further proposed on which a computer program is stored, wherein the steps of the above-mentioned method for lane change assistance of a vehicle are carried out when the computer program is executed by a processor.

[0023] According to a further aspect of the present application, a computer program product is further proposed which comprises computer instructions, wherein the steps of the above-mentioned method for lane change assistance of a vehicle are carried out when the computer instructions are executed by a processor.

[0024] The method and device for assisting a vehicle with lane change, which are proposed in the embodiments of the present application, determine a lane change safety status corresponding to the current lane change behavior of the vehicle and dynamically display the lane change safety status determined in real time. This ensures that the driver is dynamically informed of changes in the risk status throughout an entire lane change process, effectively assisting the driver in timely adjusting the vehicle control based on dynamic cues, thus improving driver convenience and passenger comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other features of the present invention will be described in detail below with reference to specific exemplary embodiments illustrated in the drawings. These exemplary embodiments are described below for illustrative purposes only and therefore do not limit the present invention. In the drawings: Fig. 1 an exemplary system architecture of an embodiment of the method for lane change assistance of a vehicle. Fig. 2 is a flowchart of a method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 3 is an effect diagram of a display location according to an embodiment of the present invention. Fig. 4 is an effect diagram of a dynamic display according to an embodiment of the present invention. Fig. 5 is a flowchart of another method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 6 is a flowchart of another method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 7 is a flowchart of yet another method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 8 is a flowchart of yet another method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 9 is a flowchart of yet another method for lane change assistance of a vehicle according to an embodiment of the present invention. Fig. 10 is a schematic representation of the principle of lane changing of a vehicle to be changed lane according to an embodiment of the present invention. Fig. 11 is a schematic structural diagram of a lane change warning light zone according to an embodiment of the present invention. Fig. 12 is a schematic structural diagram of a lane change assistance device of a vehicle according to an embodiment of the present invention. DESCRIPTION OF THE EMBODIMENTS

[0026] The present invention will be described in detail below using specific embodiments so that those skilled in the art can easily implement the present invention according to the contents disclosed in this description. The embodiments described below represent only some, but not all, embodiments of the present invention. All other embodiments that are devised by those skilled in the art based on the embodiments described in this description without inventive work fall within the scope of the present invention. It should be noted that the embodiments and their features in this description can be combined with each other unless a conflict arises.

[0027] The terms used herein are for the purpose of describing particular embodiments only and are not limiting of the invention. The singular forms "a," "one," and "the" as used herein may also include the plural forms "plural," "multiple," and "these," unless the context expressly indicates otherwise. The terms "first," "second," etc., as used herein, are merely used to distinguish various features, steps, acts, elements and / or components, and the like. They do not indicate a specific technical meaning, nor necessarily the logical relationship between them. As used herein, the term "plurality" may refer to two or more than two, and the term "at least one" may refer to one, two, or more than two.Unless the context expressly indicates otherwise, all features, steps, operations, elements, and / or components mentioned herein can generally be understood to include one or more of them. It should also be understood that the terms "comprise" and / or "include" as used herein refer to the presence of the features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their collection. The term "and / or" as used herein includes any or all combinations of one or more of the relevant listed elements. The element suffixes "module" and "unit" are used herein only for convenience of description and can therefore be used interchangeably without having any special meanings or functions.

[0028] Where existing technology relevant to the description of the present invention is obvious to those skilled in the art, a detailed description will be omitted. It should also be understood that the explanation of each embodiment in this specification focuses on highlighting the differences between the embodiments, and that the same or similar aspects of the embodiments may be referred to one another. For the sake of brevity, this specification does not provide a detailed description.

[0029] As in Fig. 1 schematically illustrates an exemplary system architecture 100 applicable to one embodiment of the method for assisting a vehicle with lane change. The system architecture 100 may include a radar measuring device 101, an image capture device 102, a vehicle terminal 103, a network 104, and a server 105. The network 104 provides communication between the radar measuring device 101, the image capture device 102, the vehicle terminal 103, and the server 105. The network may be implemented using various types of connections, such as wired, wireless, or fiber optic cables.

[0030] The radar measuring device 101 and the image recording device 102 are each arranged around the vehicle body. They record the information about the measured distance between the surrounding vehicles and the host vehicle and record image information of the surrounding vehicles. The radar measuring device 101 and the image recording device 102 interact with the server 105 via the network 104 to send the information about the measured distance between the surrounding vehicles and the host vehicle, as well as the image information of the surrounding vehicles, to the server 105 via the network 104. Thus, the server 105 determines the lane change safety level based on the information about the distance between the surrounding vehicles and the host vehicle, as well as the image information of the surrounding vehicles, and sends the safety level to the vehicle terminal 103 via the network 104.

[0031] The user can interact with the server 105 through the vehicle terminal 103 via the network 104. Various communication client applications can be installed on the vehicle terminal 103, such as image and video capture applications, text input applications, web browser applications, professional application software, search applications, instant messaging tools, email clients, social platform software, and the like.

[0032] In a specific implementation, the vehicle terminal 103 can be implemented as hardware or software, depending on actual needs. If the vehicle terminal 103 is implemented as hardware, it can be various electronic devices with a (touch) screen that support various types of inputs such as voice and text, including but not limited to personal computers (including notebooks and desktop computers), tablet computers, smartphones, vehicle terminals, e-book readers, video players, and the like. If the vehicle terminal 103 is implemented as software, it can be installed in a suitable electronic device and implemented as multiple software or software modules (for example, for distributed services), or it can also be implemented as a single software or software module. It should be understood that the Fig. 1 and the examples of the vehicle terminal described above are merely exemplary and should not be considered as a specific limitation.

[0033] Server 105 can be a server that provides various services, for example, a backend server that analyzes, responds to, supports, and further processes the various information input from vehicle terminal 103, such as control signals, voice, or text information. The backend server can process the received control signal, voice, or target text, as well as other information, such as analyzing it. The processing result is returned to vehicle terminal 103 via network 104.

[0034] In a specific implementation, the server 105 can be implemented as hardware or software, depending on the actual needs. If the server 105 is implemented as hardware, it can be implemented as a distributed server cluster consisting of multiple servers or as a single server. If the server 105 is implemented as software, it can be implemented as multiple software or software modules (for example, for the distributed services) or as a single software or software module. It should be understood that the example in Fig. 1 and described above should be considered here only as an example and not as a specific limitation.

[0035] It should be noted that the method for assisting a vehicle in lane change according to the embodiments of the present application can be executed by the vehicle terminal 103, or by the server 105, or through the cooperation of the vehicle terminal 103 and the server 105. Accordingly, the device for assisting a vehicle in lane change can be arranged in the vehicle terminal 103 or in the server 105. It can also be arranged in both the vehicle terminal 103 and the server 105.

[0036] It should be understood that the above-mentioned system architecture 100 may not include the network 104 and the server 105 when the method for lane change assistance of a vehicle according to the embodiments of the present application is executed by the vehicle terminal 103.

[0037] It should be understood that the number and types of terminals, networks and servers in Fig. 1 are merely examples. In a specific implementation, the number and type of terminals, networks, and servers can be any, depending on actual needs.

[0038] As in Fig. As shown in Figure 2, the present invention provides a method 2000 for assisting a vehicle in lane change. Specifically, the method 2000 for assisting a vehicle in lane change is executed by the server 105. The method 2000 includes: S2100, Determining a lane change safety status corresponding to a current lane change behavior of the vehicle.

[0039] It is noted that an evaluation regarding the lane change safety status corresponding to a current lane change behavior is possible for all moving vehicles, i.e., the lane change safety status corresponding to the active lane change behavior of the vehicle with a lane change intention, or the lane change safety status of the vehicle without lane change intention, which is passively caused by the lane change behavior of other vehicles.

[0040] The vehicle with a lane change intention may be a lane-changing vehicle. The current vehicle may be determined as a lane-changing vehicle in a lane-changing state (with a lane change intention) according to the driver's control. For example, the vehicle is determined as a lane-changing vehicle when a turn signal operation by the driver is monitored and the steering wheel angle is smaller than a preset angle. In other words, when the driver intends to change direction but is not performing a turning maneuver, it is determined that the driver intends to control the vehicle to change lanes.

[0041] In particular, a lane change safety level can be determined in real time according to a preset frequency that corresponds to the current lane change behavior of the vehicle to be changed. The preset frequency is determined according to the computing power of the computing device. If the server or vehicle terminal has high computing power, a higher frequency can be selected as the preset frequency. If the server or vehicle terminal has low computing power, a lower frequency can be selected as the preset frequency. This is not limited in the present application.

[0042] It should be noted that the lane change safety level, which corresponds to the current lane change behavior of the vehicle to be changed, is a degree of danger to which the vehicle to be changed is exposed at the completion of the lane change according to the current driving behavior.

[0043] S2200, dynamic display of the specific lane change safety status.

[0044] In one possible embodiment, the safety level of the lane change safety status may be dynamically displayed on a display device of the vehicle to be changed lane, wherein the display device of the vehicle includes, but is not limited to, a central control panel or a head-up display system.

[0045] For example, if, as in Fig. 3(a), the lane-changing vehicle has a central control panel, the lane-changing safety level can be dynamically displayed via the central control panel. Or, if the vehicle has a head-up display (HUD) system, the lane-changing safety level can also be projected onto the windshield of the lane-changing vehicle for display to the driver, as shown in Fig. 3(b) shown.

[0046] It should be noted that the dynamic display of the lane change safety status mainly involves displaying the change process or the change result when the safety level of the lane change safety status changes. The safety level can be displayed in various ways, for example, by a coefficient, a color change, or a continuous progress bar. The embodiment of the present application adopts the Fig. 3 shown progress bar in the form of a dashboard as an example.

[0047] In particular, the indicator changes under a control from a first lane change safety level determined at the last time point to a second lane change safety level determined at the current time point when the lane change safety level changes.

[0048] In other words, it is determined that the lane change safety level changes when the first lane change safety level determined at the previous time point of the preset frequency does not match the second lane change safety level determined at the current time point. At this time, the indicator for indicating the lane change safety level changes from the first lane change safety level to the second lane change safety level.

[0049] It should be understood that different change methods are possible for different display methods or different indicators. In one embodiment of the present application, several traffic safety levels can be achieved by a Fig. 4 can be displayed on the dashboard. The lane change safety level determined in real time can be dynamically displayed with a pointer. Below this, the dashboard is Fig. 4 the road safety level is divided into three levels: basic safety level, medium safety level and high safety level.

[0050] In one possible embodiment, the first lane change safety level and the second lane change safety level represent the safety levels of the lane change with different degrees of danger, wherein changing an indicator from a lane change safety level determined at the last time to a lane change safety level determined at the current time under a control comprises: moving the indicator from a first indication area corresponding to the first lane change safety level to a second indication area corresponding to the second lane change safety level under a control.

[0051] The dashboard for displaying the road safety level is, for example, as in Fig. 4(a), the lane change safety level is divided into a plurality of warning areas. The first lane change safety level is a basic safety level, and the second lane change safety level is a medium safety level. The basic safety level and the medium safety level each correspond to different warning areas. When the lane change safety level changes from the first lane change safety level to the second lane change safety level, the pointer moves from the warning area corresponding to the first lane change safety level to the warning area corresponding to the second lane change safety level. Thus, the driver of the lane-changing vehicle is informed that the danger level corresponding to the current lane change behavior is changing.

[0052] In a further possible embodiment, the first lane change safety level and the second lane change safety level represent a lane change safety level with the same degree of danger, wherein changing an indicator from a lane change safety level determined at the last time to a lane change safety level determined at the current time under a control comprises: moving the indicator from a first indication location corresponding to the first lane change safety level to a second indication location corresponding to the second lane change safety level under a control.

[0053] The distance between the first warning point and the second warning point correlates positively with the degree of danger between the first lane change safety level and the second lane change safety level.

[0054] In other words, the location of the traffic safety level indicator on the dashboard is positively correlated with the danger level of the traffic safety level. The higher the danger level of the traffic safety level, the closer the corresponding indicator is to the danger sign (Danger) on the dashboard; the lower the danger level of the traffic safety level, the closer the corresponding indicator is to the safety sign (Safe) on the dashboard.

[0055] For example, in Fig. As shown in Figure 4(b), both the first and second lane change safety levels are medium safety levels. However, the first lane change safety level has a lower danger level, and the second lane change safety level has a higher danger level. Therefore, when the lane change safety level changes from the first lane change safety level to the second lane change safety level, the pointer moves from the indicator position corresponding to the first lane change safety level to the indicator position corresponding to the second lane change safety level. Thus, the driver of the lane-changing vehicle is informed that the danger level corresponding to the current lane change behavior is changing.

[0056] It should be understood that, in the embodiments of the present application, by dynamically displaying the lane change safety level determined in real time, the driver of the lane-changing vehicle can be effectively informed to select a more appropriate driving behavior. For example, if there is no other vehicle in the target lane ahead of the vehicle, the driver of the lane-changing vehicle can choose whether to continue the lane change according to the current lane change behavior if the traffic safety level is the basic safety level, or to perform the lane change with acceleration if the traffic safety level is the medium safety level, or to skip the current lane change opportunity if the traffic safety level is the high safety level, etc.

[0057] In one possible embodiment, different lane change safety levels can be indicated by different colors on the dashboard to provide the driver with a more intuitive visual cue.

[0058] It should be understood that color can directly reflect the level of danger and has a natural warning effect on the driver's driving behavior. In particular, the traffic light colors red, yellow, and green can subconsciously provide the driver with a hint of the danger level.

[0059] In the example, the area corresponding to the basic security level is green, the area corresponding to the medium security level is yellow, and the area corresponding to the high security level is red. When the pointer moves into the respective indicator area on the dashboard, it also moves into the corresponding color area.

[0060] Thus, the method for assisting a lane change of a vehicle proposed in the embodiments of the present application determines a lane change safety level in real time that corresponds to the current lane change behavior of the vehicle to be changed, and dynamically displays the lane change safety level determined in real time. This ensures that the driver can be dynamically informed of changes in the danger level throughout an entire lane change process, effectively assisting the driver in timely adjusting the vehicle control based on dynamic cues, thus improving driver convenience and passenger comfort.

[0061] For a possible embodiment, see Fig. 5. In a preferred embodiment of the present application, the Fig. 2, namely determining a lane change safety status corresponding to a current lane change behavior, further S5100, namely detecting a first driving speed and a first acceleration of a vehicle to be changed lanes and a second driving speed and a second acceleration of a target vehicle on a target lane.

[0062] It should be noted that the first driving speed and the first acceleration of the lane-changing vehicle can be detected using a sensor on the lane-changing vehicle. For example, a speed sensor and an acceleration sensor are provided on the lane-changing vehicle. The speed sensor detects the first driving speed of the lane-changing vehicle, and the acceleration sensor detects the first acceleration of the lane-changing vehicle. Alternatively, the first driving speed and the first acceleration of the lane-changing vehicle can be detected by a vehicle controller (or a vehicle terminal) of the lane-changing vehicle.

[0063] It should be noted that in the embodiments of the present application, the first driving speed and the first acceleration of the vehicle to be changed lanes are detected in real time. For example, the first driving speed and the first acceleration of the vehicle to be changed lanes are detected in real time at a preset frequency. The preset frequency can be determined according to the computing power of the server or the vehicle terminal, and this is not particularly limited in the present application.

[0064] It should be noted that the target lane is the lane into which the vehicle to be changed lane is to change. The target lane can be determined based on the driver's steering control. At least one vehicle in the target lane that is closest to the vehicle to be changed lane is then set as the target vehicle. For example, if the driver performs a left-hand steering maneuver, the left adjacent lane to the lane in which the vehicle to be changed lane is located is set as the target lane. The vehicles in this adjacent lane that are to the left in front of and / or behind the vehicle to be changed lane are set as the target vehicles. For example, if the driver performs a right-hand steering maneuver, the right adjacent lane to the lane in which the vehicle to be changed lane is located is set as the target lane. The vehicles in this adjacent lane that are to the right in front of and / or behind the vehicle to be changed lane are set as the target vehicles.

[0065] In one possible embodiment, a rear vehicle on the target lane is preferably set as the target vehicle because the driver can better observe the driving status of the front vehicle while driving, but cannot well estimate the status of the rear vehicle due to the blind spot and the like.

[0066] After the target vehicle is determined on the target lane, the second traveling speed and the second acceleration of the target vehicle can be determined by recording and analyzing the information of the target vehicle.

[0067] In one possible embodiment, the target vehicle also communicates with the server via a vehicle terminal. The target vehicle sends its corresponding driving speed and acceleration to the server in real time as the second driving speed and second acceleration of the target vehicle.

[0068] For a possible embodiment, see Fig. 6. In a preferred embodiment of the present application, the Fig. 5, namely detecting a second driving speed and a second acceleration of a target vehicle on a target lane, also S5111, capturing image information of the target vehicle on the target lane with an image capturing device; and S5112, determining the second traveling speed and the second acceleration of the target vehicle based on the image information of the target vehicle.

[0069] In other words, the second traveling speed and the second acceleration of the target vehicle can be determined by acquiring the image information of the target vehicle from the image pickup device arranged on the body and analyzing the image information.

[0070] For example, at least two image frames of the target vehicle can be continuously recorded at a preset frequency. By analyzing the image information, the target vehicle's travel distance within a time interval of the preset frequency can then be determined. Subsequently, the second travel speed and second acceleration of the target vehicle are determined according to the time interval of the preset frequency and the target vehicle's travel distance.

[0071] In one possible embodiment, determining the second traveling speed and the second acceleration of the target vehicle based on the image information of the target vehicle further comprises: extracting feature information of the target vehicle based on the image information, and determining the second traveling speed and the second acceleration of the target vehicle using a speed analysis model formed by a neural network. In particular, image information of at least two consecutive image frames of the target vehicle is input into the speed analysis model formed by the neural network. The speed analysis model extracts features from the at least two consecutive image frames and obtains a speed spectrum of the target vehicle through analysis with the neural network, thereby determining the second traveling speed and the second acceleration of the target vehicle.As known to those skilled in the art, there are many types of neural networks, such as convolutional neural networks (CNNs), which are generally used for image processing, recurrent neural networks (RNNs), which are generally used for time series data such as speech, and long / short-term memory networks (LSTMs), which are generally used to extract the time series relationships between multiple upper and lower data sets. In one or more embodiments of the present application, multiple neural network models for different purposes may be defined as different feature extraction models. The input of each feature extraction model may be one or more velocity spectra.It is specified that each velocity spectrum is used as input for one or more feature extraction models, that is, it is specified that the input of each feature extraction model is one or more velocity spectra. The feature extraction model can be constructed based on learning multiple samples of the velocity spectra, that is, the neural network is pre-trained using a large amount of data of the appropriate type to obtain a model file. Thus, it can have good feature extraction capability. In addition, the neural network model can be updated as needed through retraining or periodic data updates to ensure the effectiveness of the model.

[0072] For a possible embodiment, see Fig. 7. In a preferred embodiment of the present application, the Fig. 5, namely detecting a second driving speed and a second acceleration of a target vehicle on a target lane, further S5121, recording distance information of the target vehicle on the target lane with a radar measuring device; and S5122, determining the second traveling speed and the second acceleration of the target vehicle based on the distance information of the target vehicle.

[0073] The radar measuring device may be a millimeter-wave radar. Specifically, the millimeter-wave radar emits an electromagnetic signal that, upon encountering an obstacle (e.g., a vehicle in front or a vehicle behind), is reflected, forming an echo signal. The millimeter-wave radar receives the echo signal and then determines the information about the distance between the target vehicle and the lane-changing vehicle based on the reception time of the echo signal and the propagation speed of the electromagnetic wave. A Doppler frequency shift of the echo signal is then obtained based on the continuous information about the distance between the target vehicle and the lane-changing vehicle according to the Doppler principle. This determines the second driving speed and the second acceleration of the target vehicle.

[0074] S5200, determining a lane change safety status corresponding to a current lane change behavior of the vehicle to be changed lane according to the first vehicle speed, the first acceleration, the second vehicle speed, and the second acceleration.

[0075] After obtaining the first speed and first acceleration of the lane-changing vehicle, as well as the second speed and second acceleration of the target vehicle in the target lane, the first speed, first acceleration, second speed, and second acceleration can be comprehensively analyzed. Thus, the appropriate lane-changing safety level corresponding to the lane-changing vehicle is determined.

[0076] For a possible embodiment, Fig. 8. In a preferred embodiment of the present application, the Fig. 5, namely determining a lane change safety status corresponding to a current lane change behavior of the vehicle to be changed lane, according to the first driving speed, the first acceleration, the second driving speed and the second acceleration, further, S5211, determining a first driving behavior of the vehicle to be changed lane based on the first driving speed and the first acceleration, and S5212, determining a second driving behavior of the target vehicle based on the second driving speed and the second acceleration.

[0077] It should be understood that acceleration is the information that represents the trend of change in the vehicle's traveling speed. The vehicle's traveling behavior can be comprehensively analyzed based on the acceleration and speed information. For example, if the acceleration increases and the traveling speed increases, it is proved that the vehicle is accelerating with increasing acceleration. Or if the acceleration decreases but the traveling speed increases, it is proved that the vehicle is accelerating with decreasing acceleration. Or if the absolute value of the acceleration increases and the traveling speed decreases (ie, the acceleration increases in the negative direction), it is proved that the vehicle is decelerating with increasing acceleration. Or if the absolute value of the acceleration decreases and the traveling speed decreases (ie,the acceleration decreases in a negative direction), it is proven that the vehicle decelerates with decreasing acceleration.

[0078] S5213, determining a safety level of the lane change safety status corresponding to the current lane change behavior of the vehicle to be changed lane according to the first driving behavior and the second driving behavior.

[0079] In other words, by analyzing the first driving behavior and the second driving behavior, the driving trends of the lane-changing vehicle and the target vehicle can be determined, thereby determining the lane-changing safety level corresponding to the lane-changing vehicle.

[0080] For a possible embodiment, Fig. 9. In a preferred embodiment of the present application, the Fig. 5, namely determining a lane change safety level corresponding to the vehicle to be changed lane according to the first vehicle speed, the first acceleration, the second vehicle speed and the second acceleration, further, S5221, determining a first travel distance of the vehicle to be changed lanes at the expected completion of the lane change according to the first vehicle speed and the first acceleration.

[0081] It should be noted that after detecting the initial driving speed and the initial acceleration, an initial travel distance of the lane-changing vehicle at the expected completion of the lane change can be determined based on the initial driving speed and the initial acceleration. The initial travel distance is a distance that the lane-changing vehicle can travel within an estimated time period until the completion of the lane change. Sa=Va⋅t+1 / 2⋅aa⋅t2

[0082] Here Sa is the first driving distance, Va is the first driving speed, a a the initial acceleration, and t is the estimated time required for the lane-changing vehicle to complete the lane change. The estimated time required for the lane-changing vehicle to complete the lane change may be an estimated time calculated from the initial vehicle speed and initial acceleration, or may be a fixed value determined from experimental studies.

[0083] S5222, determining a second travel distance of the target vehicle at the expected completion of the lane change of the vehicle to be changed lane according to the second vehicle speed and the second acceleration.

[0084] Similarly, after detecting the second vehicle speed and the second acceleration, the second travel distance of the target vehicle can be determined based on the second vehicle speed and the second acceleration. The second travel distance is a distance that the target vehicle can travel within an estimated time for the completion of the lane change of the vehicle to be changed. Sb=Vb⋅t+1 / 2⋅ab⋅t2

[0085] Here Sb is the second route, V b the second driving speed, a b is the second acceleration and t is the estimated time required for the lane-changing vehicle to complete the lane change.

[0086] S5223, determining a lane change safety level corresponding to the current lane change behavior of the vehicle to be changed lane, according to the first travel route and the second travel route.

[0087] In other words, the lane-changing safety level corresponding to the lane-changing vehicle can be determined according to the travel distance of the lane-changing vehicle and the target vehicle. As an example, assume that the target vehicle is a rear vehicle in the target lane. In this example, if the second travel distance of the target vehicle is greater than the first travel distance of the lane-changing vehicle, it is proven that the distance between the lane-changing vehicle and the target vehicle is decreasing with acceleration. Due to the current driving trend, there is a high risk of collision, and the lane-changing safety level is not high.

[0088] In one possible embodiment, S5223, namely determining a lane change safety level corresponding to the lane-changing vehicle according to the first travel distance and the second travel distance, further comprises: detecting an initial distance between the lane-changing vehicle and the target vehicle; determining a predicted distance between the lane-changing vehicle and the target vehicle according to the first travel distance, the second travel distance, and the initial distance; determining a lane change safety level corresponding to the current lane-changing behavior of the lane-changing vehicle.

[0089] It should be understood that if the initial distance between the lane-changing vehicle and the target vehicle is large enough, there is no risk of collision, even if the first travel distance is shorter than the second travel distance. To improve the accuracy of determining the lane-changing safety level corresponding to the lane-changing vehicle, the initial distance between the lane-changing vehicle and the target vehicle can also be included. A predicted distance between the lane-changing vehicle and the target vehicle is determined based on the initial distance. Then, the lane-changing safety level corresponding to the lane-changing vehicle is determined based on the predicted distance.

[0090] Preferably, the initial distance is the current distance between the lane-changing vehicle and the target vehicle, namely the longitudinal distance between the lane-changing vehicle and the target vehicle in the target lane at the current time. The predicted distance is the distance between the lane-changing vehicle and the target vehicle after the estimated completion time t of the lane change. In other words, the lane-changing vehicle travels at the first speed and the first acceleration, and the target vehicle travels at the second speed and the second acceleration until the estimated completion time t of the lane change, and a predicted distance is the distance between the lane-changing vehicle and the target vehicle after the estimated completion time t. For example, as in Fig. 10, the predicted distance is the distance between the vehicle to be changed lanes after changing from the right lane at the current time to the left lane at the next time and the target vehicle behind it.

[0091] The predicted distance can be formulated, for example, as follows: Sab−new=Sa−Sb+Sab

[0092] Where Sa is the first travel distance, Sb is the second travel distance, Sab is the initial distance and Sab-new is the predicted distance.

[0093] In one possible embodiment, the lane change safety level corresponding to the vehicle to be changed lanes may be determined according to the predicted distance and the respective distance threshold corresponding to the lane change safety level.

[0094] In particular, the lane change safety levels correspond to a plurality of distance thresholds that distinguish the multiple lane change safety levels. For example, if the predicted distance Sab-new is greater than the first distance threshold S safe , it is determined that the lane change safety level corresponding to the lane-changing vehicle is a basic safety level. The basic safety level indicates that the lane change operation performed by the lane-changing vehicle with the first driving speed and the first acceleration is relatively safe after time t. If the predicted distance Sab-new is less than the second distance threshold S danger, it is determined that the lane change safety level corresponding to the lane-changing vehicle is a high safety level. The high safety level indicates that the lane change operation performed by the lane-changing vehicle with the first driving speed and the first acceleration after time t is very dangerous. If the predicted distance Sab-new is between the first distance threshold S safe and the second distance threshold S danger, it is determined that the lane-changing safety level corresponding to the lane-changing vehicle is a medium safety level. The medium safety level indicates that the lane-changing maneuver performed by the lane-changing vehicle at the initial speed and acceleration is dangerous after time t. During this maneuver, the driver must exercise extreme caution or sharply depress the accelerator pedal and perform other maneuvers while maintaining a safe distance ahead.

[0095] It is noted that the first distance threshold S safe and the second distance threshold S danger can be adjusted according to actual conditions, such as the driving safety requirements of the country where the vehicle is used, vehicle performance, etc. The specific value of the first distance threshold S safeand the second distance threshold S danger is not limited in the present application.

[0096] In some embodiments, this rule can be overridden in certain special cases. The pointer's orientation can then be defined by a special algorithm. For example, in a traffic jam area, even if the calculated lane change safety level is the high safety level, an indication of the basic safety level can be provided as long as the speed of the rear vehicle is approaching 0 or is just decreasing. Or, in rain and snow conditions, the weather-dependent safety distance threshold is used to effectively improve the reliability of the indications of the lane change safety level in rain and snow.

[0097] In one possible embodiment, the target vehicle's change in speed may have an impact at at least one future time, although the lane change safety level indicator may help the driver predict the lane change danger level at the next time, given the initial speed and initial acceleration. For example, if the rear vehicle accelerates with increasing acceleration, the danger level may be lower at the next time, but the distance may suddenly decrease at the time after that due to the change in speed of the rear vehicle, compromising driving safety.

[0098] Based on this, the embodiments of the present application further propose to display the second acceleration and / or a change trend of the second acceleration of the target vehicle to the driver.

[0099] For example, as in Fig. 11, an arrow may be used to indicate to the driver whether the acceleration of the target vehicle is in an acceleration direction or a deceleration direction, or to indicate to the driver a change trend of the acceleration of the target vehicle, that is, whether the acceleration is in an increasing or a decreasing state.

[0100] In one possible embodiment, the acceleration arrow display may also be based on the relationship between the magnitude of the second acceleration and an acceleration threshold, where the acceleration threshold is used to indicate the acceleration state of the target vehicle. For example, the first acceleration threshold indicates a accel indicates that the target vehicle is in an acceleration state. The second acceleration threshold a brkindicates, for example, that the target vehicle is in a deceleration state. If the second acceleration is greater than the first acceleration threshold a accel an upward arrow is displayed to alert the driver that the target vehicle is accelerating. If the second acceleration is less than the second acceleration threshold a brk a downward-pointing arrow is displayed to alert the driver that the target vehicle is decelerating. For example, if the target vehicle is traveling at a nearly constant speed, its acceleration is close to 0 and thus between the first acceleration threshold a accel and the second acceleration threshold a brk . If the second acceleration is between the first acceleration threshold a accel and the second acceleration threshold a brkno arrow is displayed to alert the driver that the target vehicle maintains the predicted driving trend with no other significant driving trends.

[0101] In summary, the lane change assistance method for a vehicle proposed in the embodiments of the present application determines in real time a lane change safety level corresponding to the current lane change behavior of a vehicle about to change lanes, and dynamically displays the lane change safety level determined in real time. This ensures that the driver is dynamically informed of changes in the danger level throughout an entire lane change process, effectively assisting the driver in timely adjusting vehicle control based on dynamic cues, thus improving driver convenience and passenger comfort.

[0102] Based on the same inventive concept, Fig. 12 is a schematic structural diagram of a device 10 for assisting a lane change of a vehicle according to an embodiment of the present invention. The device 10 comprises: a determination module 11 for determining a lane change safety status corresponding to a current lane change behavior of the vehicle; a display module 12 for dynamically displaying the determined lane change safety status.

[0103] In some embodiments, the display module 12 is further configured to: dynamically display a safety level of the lane change safety status on a display device of the vehicle.

[0104] In some embodiments, the display module 12 is further configured to: change an indicator from a first lane change safety level determined at the last time to a second lane change safety level determined at the current time under a controller when the lane change safety level changes.

[0105] In some embodiments, the first lane change safety level and the second lane change safety level represent the safety levels of the lane change with different degrees of danger. The display module 12 is designed to: Moving the indicator from a first advisory area corresponding to the first lane change safety level to a second advisory area corresponding to the second lane change safety level under a control.

[0106] In some embodiments, the first lane change safety level and the second lane change safety level represent the lane change safety level with the same degree of danger. The display module 12 is further configured to: move the indicator from a first indication location corresponding to the first lane change safety level to a second indication location corresponding to the second lane change safety level under a controller.

[0107] In some embodiments, the distance between the first cue point and the second cue point positively correlates with the degree of danger between the first lane change safety level and the second lane change safety level.

[0108] In some embodiments, the determination module 11 is further configured to: Detecting a first driving speed and a first acceleration of a vehicle to be changed lanes and a second driving speed and a second acceleration of a target vehicle in a target lane; Determining a lane change safety status corresponding to a current lane change behavior of the vehicle to be changed lane, according to the first vehicle speed, the first acceleration, the second vehicle speed and the second acceleration.

[0109] In some embodiments, the determination module 11 is also designed to: Determining a first travel distance of the vehicle to be changed lanes at the expected completion of the lane change according to the first driving speed and the first acceleration; Determining a second travel distance of the target vehicle at the expected completion of the lane change of the vehicle to be changed lane according to the second driving speed and the second acceleration; Determining a safety level of the lane change safety status corresponding to the current lane change behavior of the vehicle to be changed lane according to the first travel route and the second travel route.

[0110] In some embodiments, the determination module 11 is also designed to: Detecting an initial distance between the vehicle to change lanes and the target vehicle; Determining a predicted distance between the vehicle to be changed lanes and the target vehicle according to the first travel distance, the second travel distance and the initial distance; Determining a lane change safety level corresponding to the current lane change behavior of the vehicle to be changed, according to the predicted distance.

[0111] In some embodiments, the determination module 11 is further configured to: Determining a lane change safety level corresponding to the current lane change behavior of the vehicle to be changed lane according to the predicted distance and the distance threshold of the respective lane change safety level corresponding to the degree of danger.

[0112] In some embodiments, the determination module 11 is further configured to: Recording image information of the target vehicle on the target lane with an image recording device; and Determining the second driving speed and the second acceleration of the target vehicle based on the image information of the target vehicle.

[0113] In some embodiments, the determination module 11 is further configured to: Recording distance information of the target vehicle on the target lane using a radar measuring device; and Determining the second driving speed and the second acceleration of the target vehicle based on the distance information of the target vehicle.

[0114] In some embodiments, the determination module 11 is further configured to: display the second acceleration and / or a change trend of the second acceleration of the target vehicle on a central control panel or a head-up display system of the vehicle to be lane-changed.

[0115] It is to be understood that the Fig. 12 is merely schematic. The device may also have more or fewer modules or components than those shown in Fig. 12 or a configuration other than that shown in Fig. 12 shown.

[0116] Furthermore, the present application also provides a computing device. According to one embodiment of the present invention, the computing device may include a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the method for lane change assistance of a vehicle in the description may be performed.

[0117] Furthermore, the present application also provides a computer-readable medium. The computer-readable medium may be included in the device of the above embodiments or may exist separately without being incorporated into the device. The computer-readable medium contains one or more programs. When the one or more programs are executed by the device, the device is caused to perform the steps of the method for assisting a vehicle in lane change described above.

[0118] Furthermore, the present application also provides a computer program product containing computer instructions. When the computer instructions are executed by a processor, the steps of the method for assisting a vehicle in lane change described in the description can be performed.

[0119] In particular, the operations described above with reference to the flowcharts in the drawings can be implemented in the embodiments as computer software programs. For example, the embodiments disclosed in the description of the present application include a computer program product comprising a computer program carried by a computer-readable medium. The computer program includes program code for executing the method shown in the flowcharts of the drawings. The method of the present application is carried out by the processor executing the computer program.

[0120] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or element, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: computer magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0121] In the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be executed by or in association with an instruction-executing system, apparatus, or device. In the present application, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code carried in the data signal. Such propagated data signals may take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium.The computer-readable medium can broadcast, distribute, or transmit the program used by or in connection with an instruction-executing system, apparatus, or device. Program code embodied on a computer-readable medium can be transmitted over any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0122] Computer program code for performing the operations of the present application may be written in one or more programming languages; the aforementioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also conventional procedural programming languages such as "C" language or a similar programming language. The program code may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a local area network (LAN) or a wide area network (WAN)), or it may be connected to an external computer (e.g., via the Internet through an Internet service provider).

[0123] The flowcharts and block diagrams in the accompanying drawings illustrate, by way of example, the possible implementation architecture, functions, and operations of systems, methods, and computer program products according to embodiments of the present application. Each block in the flowchart or block diagram may represent a module, program segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should be noted that in some alternative embodiments, the functions specified in the block may occur in a different order than shown in the figures. For example, two blocks shown consecutively may actually execute substantially in parallel, or sometimes in reverse order, depending on the functionality involved.It should also be noted that each block of the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by special purpose hardware-based systems that perform the specified functions or operations, or may be implemented using a combination of special purpose hardware and computer instructions.

[0124] The units or modules involved in the embodiments of the present application can be implemented in software or hardware. The above-mentioned units or modules can also be arranged in a processor. For example, it can be described as: a processor comprising a first acquisition module, a second acquisition module, a determination module, and a display module, etc. The names of these units or modules do not, in some cases, represent a limitation on the units or modules themselves.

[0125] All documents mentioned in the present description are incorporated by reference into this application, just as each individual document would be fully incorporated by reference into the present description.

[0126] It should also be understood that after reading the above description of the present invention, one skilled in the art may make all possible changes or modifications to the present invention. These equivalent forms also fall within the scope of the present invention.

Claims

[1] Method for lane change support of a vehicle, characterized by that the procedure includes: Determining a lane change safety status corresponding to a current lane change behavior of the vehicle; dynamic display of the specific lane change safety status. [2] Method for lane change assistance of a vehicle according to claim 1, characterized by that includes dynamically displaying the specific lane change safety status: dynamically displaying a safety level of the lane change safety status on a vehicle display device. [3] Method for lane change assistance of a vehicle according to claim 2, characterized by that includes the dynamic display of the specific safety level of lane change: Changing an indicator from a first lane change safety level determined at the last time to a second lane change safety level determined at the current time under a control when the lane change safety level changes. [4] Method for lane change assistance of a vehicle according to claim 3, characterized by that the first lane change safety level and the second lane change safety level represent the safety levels of the lane change with different degrees of danger, wherein the changing of an indicator from a lane change safety level determined at the last time to a lane change safety level determined at the current time under a control comprises: Moving the indicator from a first advisory area corresponding to the first lane change safety level to a second advisory area corresponding to the second lane change safety level under a control. [5] Method for lane change assistance of a vehicle according to claim 3, characterized by that the first lane change safety level and the second lane change safety level represent the lane change safety level with the same degree of danger, wherein the changing of an indicator from a lane change safety level determined at the last time to a lane change safety level determined at the current time under a control comprises: Moving the indicator from a first cue location corresponding to the first lane change safety level to a second cue location corresponding to the second lane change safety level under a control. [6] Method for lane change assistance of a vehicle according to claim 5, characterized bythat the distance between the first warning point and the second warning point correlates positively with the degree of danger between the first lane change safety level and the second lane change safety level. [7] Method for lane change assistance of a vehicle according to claim 1, characterized by that determining a lane change safety status corresponding to a current lane change behavior of the vehicle comprises: Detecting a first driving speed and a first acceleration of a vehicle to be changed lanes and a second driving speed and a second acceleration of a target vehicle in a target lane; Determining a lane change safety status corresponding to a current lane change behavior of the vehicle to be changed lane, according to the first vehicle speed, the first acceleration, the second vehicle speed and the second acceleration. [8] Method according to claim 7, characterized by that determining a lane change safety status corresponding to the vehicle to be changed lane according to the first driving speed, the first acceleration, the second driving speed and the second acceleration comprises: Determining a first travel distance of the vehicle to be changed lanes at the expected completion of the lane change according to the first driving speed and the first acceleration; Determining a second travel distance of the target vehicle at the expected completion of the lane change of the vehicle to be changed lane according to the second driving speed and the second acceleration; Determining a safety level of the lane change safety status that corresponds to the current lane change behavior of the vehicle to be changed, according to the first route and the second route. [9] Method according to claim 8, characterized bythat determining a safety level of the lane change safety status corresponding to the current lane change behavior of the vehicle to be changed lane, according to the first travel route and the second travel route, comprises: Detecting an initial distance between the vehicle to change lanes and the target vehicle; Determining a predicted distance between the vehicle to be changed lanes and the target vehicle according to the first travel distance, the second travel distance and the initial distance; Determining a lane change safety level corresponding to the current lane change behavior of the vehicle to be changed, according to the predicted distance. [10] Method according to claim 9, characterized by that determining a lane change safety level corresponding to the vehicle to be changed according to the predicted distance comprises: Determining a lane change safety level corresponding to the current lane change behavior of the vehicle to be changed lane according to the predicted distance and the distance threshold of the respective lane change safety level corresponding to the degree of danger. [11] Method according to claim 7, characterized by that the procedure further comprises: Recording image information of the target vehicle on the target lane with an image recording device; and Determining the second driving speed and the second acceleration of the target vehicle based on the image information of the target vehicle. [12] Method according to claim 7, characterized by that the procedure further comprises: Recording distance information of the target vehicle on the target lane using a radar measuring device; and Determining the second driving speed and the second acceleration of the target vehicle based on the distance information of the target vehicle. [13] Method according to claim 7, characterized by that the procedure further comprises: Displaying the second acceleration and / or a change trend of the second acceleration of the target vehicle on the display device of the vehicle to be changed lane. [14] Device for assisting a vehicle in changing lanes, characterized by that the device further comprises: a determination module for determining a lane change safety status corresponding to a current lane change behavior of the vehicle; and a display module for dynamically displaying the determined lane change safety status. [15] A computer device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized bythat the steps of the method according to one of claims 1 to 13 are carried out when the processor executes the program. [16] Computer-readable storage medium on which a computer program is stored, characterized by that the steps of the method according to one of claims 1 to 13 are carried out when the computer program is executed by a processor. [17] Computer program product comprising computer instructions, characterized by that the steps of the method according to any one of claims 1 to 13 are carried out when the computer instructions are executed by a processor.

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