Method and device for assisting lane change of vehicle

Abstract

To provide a method and a device for assisting lane change of a vehicle.SOLUTION: A method comprises steps of: determining a safety situation of lane change corresponding to a current lane change behavior of a vehicle; and dynamically presenting the safety situation of the lane change. The method can guarantee that a driver dynamically receives change information of a danger level through the entire merging process.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to the field of vehicle assistance control, and in particular to a method and apparatus for lane change assistance for a vehicle. [Background technology]

[0002] As the automobile industry continues to grow and people's living standards continue to improve, vehicles have become more prevalent in people's daily lives. However, the process of driving a vehicle is easily influenced by other surrounding vehicles. For example, when changing lanes, if a vehicle behind in the target lane accelerates, travels at a constant speed, or slightly decelerates, the driver may find it difficult to intuitively judge the current situation. To avoid an accident, a driver may accelerate to merge, but insufficient acceleration or too short a following distance may affect safety. Alternatively, braking and waiting may result in missing the opportunity to merge, or the driver may hesitate and be unable to merge.

[0003] To solve the above problems, related technologies have proposed monitoring the distance between the vehicle behind and sounding a buzzer to warn the driver when the distance is too close. However, this warning method makes it difficult for the driver to intuitively, dynamically, and in real time grasp the risks involved in changing lanes, making it difficult to make better decisions for safe driving, and also making it difficult to adjust the vehicle control in real time.

[0004] Therefore, in order to overcome the above problems, it is urgent to provide an auxiliary visualization warning method and device that can dynamically reflect the dangerous situation of lane-changing driving in real time.

[0005] It should be noted that the information disclosed in the above Background Art section is intended to deepen understanding of the background of the present invention and may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention [Problem to be solved by the invention]

[0006] To solve the problems in the prior art, the present invention provides a method and apparatus for assisting a vehicle in changing lanes, which can ensure that the driver dynamically receives information on changes in risk levels throughout the merging process. [Means for solving the problem]

[0007] The present invention provides a lane change assistance method for a vehicle, including the steps of determining a lane change safety situation corresponding to the vehicle's current lane change behavior, and dynamically presenting the lane change safety situation determined in real time.

[0008] In some embodiments, the step of dynamically presenting the determined lane change safety condition includes dynamically presenting a safety level of the lane change safety condition on a display device of the vehicle.

[0009] In some embodiments, the step of dynamically presenting the determined lane change safety condition includes a step of controlling an indication mark to change from a first lane change safety condition determined at a previous time to a second lane change safety condition determined at a current time when the lane change safety condition changes.

[0010] In some embodiments, the first lane change safety condition and the second lane change safety condition are lane change safety conditions with different levels of risk, and the step of controlling the indication mark to change from the lane change safety condition determined at the previous time to the lane change safety condition determined at the current time includes a step of controlling the indication mark to move from a first indication area corresponding to the first lane change safety condition to a second indication area corresponding to the second lane change safety condition.

[0011] In some embodiments, the first lane change safety condition and the second lane change safety condition are lane change safety conditions with the same level of risk, and the step of controlling the indication mark to change from the lane change safety condition determined at the previous time to the lane change safety condition determined at the current time includes the step of controlling the indication mark to move from a first indication position corresponding to the first lane change safety condition to a second indication position corresponding to the second lane change safety condition.

[0012] In some embodiments, the distance between the first indication position and the second indication position is positively correlated with the risk between the first lane change safety situation and the second lane change safety situation.

[0013] In some embodiments, the step of determining a lane change safety situation corresponding to the vehicle's current lane change behavior includes the steps of obtaining a first vehicle speed and a first acceleration of a vehicle waiting to change lanes and a second vehicle speed and a second acceleration of a target vehicle on the target lane, and determining a lane change safety situation corresponding to the vehicle's current lane change behavior from the first vehicle speed, first acceleration, second vehicle speed, and second acceleration.

[0014] In some embodiments, the step of determining a lane change safety status corresponding to the vehicle waiting to change lanes from the first vehicle speed, first acceleration, second vehicle speed, and second acceleration includes the steps of: determining a first traveling distance when the vehicle waiting to change lanes is expected to complete its lane change from the first vehicle speed and the first acceleration; determining a second traveling distance of the target vehicle when the vehicle waiting to change lanes is expected to complete its lane change from the second vehicle speed and the second acceleration; and determining a lane change safety status corresponding to the current lane change behavior of the vehicle waiting to change lanes from the first traveling distance and the second traveling distance.

[0015] In some embodiments, the step of determining a lane change safety status corresponding to the current lane change behavior of the vehicle waiting to change lanes from the first mileage and the second mileage includes the steps of obtaining an initial distance between the vehicle waiting to change lanes and the target vehicle, determining a predicted distance between the vehicle waiting to change lanes and the target vehicle from the first mileage, the second mileage and the initial distance, and determining a safety level of a lane change safety status corresponding to the current lane change behavior of the vehicle waiting to change lanes from the predicted distance.

[0016] In some embodiments, the step of determining a lane change safety level of the lane change safety situation corresponding to the vehicle waiting to change lanes from the predicted distance includes a step of determining a lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes from the predicted distance and distance thresholds corresponding to the lane change safety levels corresponding to different risk levels.

[0017] In some embodiments, the method further includes collecting image information of the target vehicle on the target lane using an image collection device, and determining a second vehicle speed and a second acceleration of the target vehicle based on the image information of the target vehicle.

[0018] In some embodiments, the method further includes using a radar measurement device to collect distance information of the target vehicle on the target lane, and determining a second vehicle speed and a second acceleration of the target vehicle based on the distance information of the target vehicle.

[0019] In some embodiments, the method further includes presenting, on the display device of the vehicle waiting to change lanes, a second acceleration of the target vehicle and / or a change trend of the second acceleration.

[0020] According to another aspect of the present application, there is also provided a method for manufacturing a semiconductor device comprising: a decision module for determining a lane change safety situation corresponding to the vehicle's current lane change behavior; a presentation module for dynamically presenting the determined lane change safety situation.

[0021] According to another aspect of the present application, there is also provided a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the steps of the above-described vehicle lane change assistance method.

[0022] According to another aspect of the present application, there is also provided a computer-readable storage medium having a computer program stored therein, the computer-readable storage medium realizing the steps of the above-described vehicle lane change assistance method when the program is executed by a processor.

[0023] According to another aspect of the present application, there is also provided a computer program product including computer instructions, the computer program product realizing the steps of the above-described vehicle lane change assistance method when the computer instructions are executed by a processor. [Effects of the Invention]

[0024] The vehicle lane change assistance method and device proposed in the embodiments of the present application determines the lane change safety situation corresponding to the vehicle's current lane change behavior, and dynamically presents the determined lane change safety situation in real time, thereby ensuring that the driver dynamically receives information on changes in dangerous situations throughout the entire merging process, thereby effectively assisting the driver in adjusting vehicle control in real time according to the dynamic notification, and further improving driver convenience and passenger comfort.

[0025] These and other features of the present invention will now be described with detailed reference to certain exemplary embodiments thereof, which are provided hereinafter by way of example only and are not intended to limit the invention. [Brief explanation of the drawings]

[0026] [Figure 1] 1 illustrates an exemplary system architecture applicable to one specific embodiment of the vehicle lane change assistance method of the present invention. [Figure 2] 2 shows a flowchart of a lane change assistance method for a vehicle according to an embodiment of the present invention. [Figure 3] 10 shows an effect diagram of presentation position according to one embodiment of the present invention. [Figure 4] 10 illustrates an effect diagram of dynamic presentation according to one embodiment of the present invention. [Figure 5] 4 shows a flowchart of another vehicle lane change assistance method according to an embodiment of the present invention. [Figure 6] 10 shows a flowchart of yet another vehicle lane change assistance method according to an embodiment of the present invention. [Figure 7] 10 shows a flowchart of yet another vehicle lane change assistance method according to an embodiment of the present invention. [Figure 8] 10 shows a flowchart of yet another vehicle lane change assistance method according to an embodiment of the present invention. [Figure 9] 10 shows a flowchart of yet another vehicle lane change assistance method according to an embodiment of the present invention. [Figure 10] 1 is a schematic diagram showing the principle of lane change by a vehicle waiting to change lanes according to an embodiment of the present invention; [Figure 11] 1 shows a schematic diagram of a lane change warning light area according to an embodiment of the present invention; [Figure 12] 1 shows a schematic diagram of the configuration of a lane change assist device for a vehicle according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, the present invention will be described in detail through specific examples so that those skilled in the art can easily implement the present invention based on the contents disclosed in this specification. The examples described below are only a portion of the present invention and are not all examples of the present invention. All other examples obtained by those skilled in the art based on the examples described in this specification without paying creative labor fall within the scope of protection of the present invention. Furthermore, the examples and features of the examples in this specification can be combined with each other unless a contradiction arises.

[0028] The terms used herein are not intended to limit the present invention but merely to describe particular embodiments. As used herein, the singular forms "a," "one," and "the" include the plural forms "plurality," "pluralities," and "the plurality" unless the context dictates otherwise. Terms such as "first," "second," and the like, as used herein, are merely used to distinguish between different features, steps, operations, elements, and / or components, and do not imply any particular technical meaning or necessary logical order between them. As used herein, the word "plurality" may refer to two or more than two, and the word "at least one" may refer to one, two, or more than two. Any feature, step, operation, element, and / or component referred to herein is generally understood as one or more, unless the context dictates otherwise. Additionally, as used herein, the words "comprise" and / or "include" refer to the presence of said features, steps, operations, elements, and / or components and do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. It should be understood that the word "and / or" as used herein includes any and all combinations of one or more associated listed items. The terms "module" and "unit" used after an element in this specification are merely for ease of description and may be used interchangeably, without any distinguishing meaning or function.

[0029] Since the prior art related to the description of the present invention is obvious to those skilled in the art, detailed description thereof will be omitted. In addition, since the description of each embodiment in this specification focuses on the differences between the embodiments and the same or similar parts between the embodiments may be referred to, it should be understood that in the interest of conciseness, they will not be described one by one in this specification.

[0030] 1, an exemplary system architecture 100 applicable to one specific embodiment of the lane change assistance method for a vehicle of the present invention is shown. The system architecture 100 may include a radar measurement device 101, an image collection device 102, an on-board terminal 103, a network 104, and a server 105. The network 104 is used for communication between the radar measurement device 101, the image collection device 102, the on-board terminal 103, and the server 105, and may include various connection types, such as wired, wireless communication, or fiber optic cable.

[0031] The radar measurement device 101 and the image collection device 102 are respectively provided around the vehicle body, and measure distance information between the vehicle body and surrounding vehicles, and collect image information of the surrounding vehicles. The radar measurement device 101 and the image collection device 102 interact with the server 105 via a network 104, and transmit the measured distance information between the vehicle body and surrounding vehicles and image information of the surrounding vehicles to the server 105 via the network 104. The server 105 then determines a lane change safety level based on the distance information between the vehicle body and surrounding vehicles and the image information of the surrounding vehicles, and transmits the determined information to the in-vehicle terminal 103 via the network 104.

[0032] A user may use the in-vehicle terminal 103 to interact with the server 105 via the network 104. The in-vehicle terminal 103 may have various communication client applications installed, such as an image and video capture application, a text input application, a web browser application, specialized application software, a search application, an instant messenger, an email client, and social platform software.

[0033] In a specific implementation, the in-vehicle terminal 103 may be implemented as hardware or software according to actual needs. When the in-vehicle terminal 103 is implemented as hardware, it may be various electronic devices having a (touch) display screen and supporting various inputs such as voice and text, including, but not limited to, personal computers (including laptops and desktop computers), tablet computers, smartphones, in-vehicle terminals, e-book readers, video players, etc. When the in-vehicle terminal 103 is implemented as software, it may be installed in an appropriate electronic device and implemented as multiple software programs or software modules (e.g., to provide distributed services), or as a single software program or software module. It should be understood that the example of the in-vehicle terminal 103 shown in FIG. 1 and described above is merely an example and should not be construed as a specific limitation.

[0034] The server 105 may be a server that provides various services, such as a background server that provides processing such as analysis, response, and support for various information, such as control signals, voice, or text information, input from the in-vehicle terminal 103. The background server performs processing such as analysis on information such as received control signals, voice, or target text, and can feed back the processing results to the in-vehicle terminal 103 via the network 104.

[0035] In a specific implementation, the server 105 may be implemented as hardware or software according to actual needs. When the server 105 is implemented as hardware, it may be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When the server 105 is implemented as software, it may be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module. It should be understood that the example of the server 105 shown in FIG. 1 and described above is merely an example and should not be understood as a specific limitation.

[0036] It should be noted that the vehicle lane change assistance method provided by the embodiments of the present application may be executed by the in-vehicle terminal 103, may be executed by the server 105, or may be executed jointly by the in-vehicle terminal 103 and the server 105. Accordingly, the vehicle lane change assistance device may be provided in the in-vehicle terminal 103, may be provided in the server 105, or may be provided in the in-vehicle terminal 103 and the server 105.

[0037] It can be understood that when the vehicle lane change assistance method provided by the embodiment of the present application is executed by the in-vehicle terminal 103, the above system architecture 100 does not need to include the network 104 and the server 105.

[0038] It should be understood that the number and types of terminal devices, networks, and servers in Figure 1 are merely exemplary, and specific implementations may have any number and types of terminal devices, networks, and servers according to actual needs.

[0039] 2, the present invention provides a vehicle lane change assistance method 2000. Specifically, the vehicle lane change assistance method 2000 is executed by the server 105, and the method 2000 includes the following steps S2100 to S2200.

[0040] In S2100, a lane change safety situation corresponding to the vehicle's current lane change behavior is determined.

[0041] In addition, for all vehicles currently in motion, it is possible to evaluate the lane change safety situation corresponding to the current lane change behavior, i.e., the lane change safety situation corresponding to the active lane change behavior of a vehicle that has a tendency to change lanes, or the passive lane change safety situation of a vehicle that does not have a tendency to change lanes due to the influence of the lane change behavior of other vehicles.

[0042] Here, the vehicle that has a tendency to change lanes may be a vehicle waiting to change lanes, and depending on the driver's control, the vehicle can be determined to be a vehicle waiting to change lanes (having a tendency to change lanes), for example, when it is monitored that the driver has turned on the blinker and the steering angle of the steering wheel is smaller than a preset angle, the vehicle is determined to be a vehicle waiting to change lanes, that is, when the driver needs to change direction but is not performing a steering operation, the driver determines to control the vehicle to change lanes.

[0043] Specifically, a lane change safety level corresponding to the current lane change behavior of a vehicle waiting to change lanes may be determined in real time at a preset frequency. Here, the preset frequency is determined based on the computing power that can be provided by the computing device. If the computing power of the server or the in-vehicle terminal is high, a high frequency may be selected as the preset frequency. If the computing power of the server or the in-vehicle terminal is low, a low frequency may be selected as the preset frequency. This is not specifically limited in the present application.

[0044] The lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes is the degree of risk when the vehicle waiting to change lanes completes the lane change with its current driving behavior.

[0045] The S2200 dynamically presents the safety status of the determined lane change.

[0046] In one possible embodiment, the safety level of the lane change safety situation may be dynamically presented on a display device of a vehicle waiting to change lanes, where the display device of the vehicle includes, but is not limited to, a central control screen or a head-up display.

[0047] For example, as shown in (a) of FIG. 3, if the vehicle waiting to change lanes has a central control screen, the lane change safety level may be dynamically displayed on the central control screen, or if the vehicle has a head-up display (HUD), the safety level may be projected onto the windshield corresponding to the driver of the vehicle waiting to change lanes, as shown in (b) of FIG. 3.

[0048] Dynamically displaying the lane change safety status mainly refers to displaying the process or results of a change in the lane change safety status when the safety level of the lane change safety status changes. However, the safety level may be displayed in various forms, such as a coefficient, a color change, or a continuous progress bar. In this embodiment, the instrument panel-type progress bar shown in FIG. 3 is used as an example.

[0049] Specifically, when the lane change safety level changes, the indicator mark is controlled to change from the first lane change safety level determined at the previous time to the second lane change safety level determined at the current time.

[0050] In other words, if the first lane change safety level determined at a previous time at a preset frequency does not match the second lane change safety level determined at the current time, it is determined that the lane change safety level has changed, and at this time, the indication mark for indicating the lane change safety level changes, i.e., it changes from the first lane change safety level to the second lane change safety level.

[0051] It should be understood that different presentation methods or different indicators may result in different change methods. In one embodiment of the present application, the instrument panel shown in Figure 4 presents multiple road safety levels, and then a pointer is used to dynamically present the lane change safety level determined in real time. Here, in the instrument panel shown in Figure 4, the road safety levels are divided into three levels: elementary safety level, intermediate safety level, and advanced safety level.

[0052] In one possible embodiment, the first lane change safety level and the second lane change safety level are lane change safety levels with different degrees of risk, and the step of controlling the indication mark to change from the lane change safety level determined at the previous time to the lane change safety level determined at the current time includes a step of controlling the indication mark to move 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.

[0053] For example, as shown in Fig. 4(a), the instrument panel for indicating road safety levels is divided into multiple indication areas, where the first lane change safety level is an elementary safety level, and the second lane change safety level is an intermediate safety level, and the elementary safety level and the intermediate safety level correspond to different indication areas, respectively. 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 indication area corresponding to the first lane change safety level to the indication area corresponding to the second lane change safety level, thereby alerting the driver of the vehicle waiting to change lanes to the change in risk level corresponding to the current lane change behavior.

[0054] In another possible embodiment, the first lane change safety level and the second lane change safety level are lane change safety levels with the same degree of risk, and the step of controlling the indication mark to change from the lane change safety level determined at the previous time to the lane change safety level determined at the current time includes the step of controlling the indication mark to move from a first indication position corresponding to the first lane change safety level to a second indication position corresponding to the second lane change safety level.

[0055] However, the distance between the first indication position and the second indication position is positively correlated with the degree of risk between the safety level of the first lane change and the safety level of the second lane change.

[0056] In other words, the position of the road safety level indication on the instrument panel is positively correlated with the risk level of the road safety level, i.e., the higher the risk level of the road safety level, the closer the corresponding indication position is to the danger mark (Danger) on the instrument panel, and the lower the risk level of the road safety level, the closer the corresponding indication position is to the safety mark (Safe) on the instrument panel.

[0057] For example, as shown in (b) of Figure 4, the first lane change safety level and the second lane change safety level are both medium safety levels, but the first lane change safety level has a lower level of risk and the second lane change safety level has a higher level of risk. 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 indication position corresponding to the first lane change safety level to the indication position corresponding to the second lane change safety level, thereby alerting the driver of the vehicle waiting to change lanes to the changing risk situation corresponding to the current lane change behavior.

[0058] It should be understood that, in the embodiment of the present application, by dynamically presenting the lane change safety level determined in real time, the driver of the vehicle waiting to change lanes can be effectively prompted to select a more appropriate driving behavior. For example, when there is no vehicle ahead in the target lane, the driver of the vehicle waiting to change lanes can choose to continue the lane change with the current lane change behavior if the road safety level is the elementary safety level, or choose to accelerate and complete the lane change if the road safety level is the intermediate safety level, or choose to miss the current lane change opportunity if the road safety level is the advanced safety level.

[0059] In one possible embodiment, different lane change safety levels can be marked with different colors on the instrument panel to provide a more intuitive visual reminder to the driver.

[0060] It should be understood that colors can intuitively reflect the degree of danger and have a natural warning effect on the driver's driving operation. In particular, using the same colors as traffic lights (red, yellow, and green) can naturally suggest the danger level to the driver.

[0061] For example, areas with a basic safety level correspond to green, areas with an intermediate safety level correspond to yellow, and areas with an advanced safety level correspond to red, and the pointer moves through areas of various colors when moving through each indication area on the instrument panel.

[0062] Therefore, the vehicle lane change assistance method proposed in the embodiments of the present application determines in real time the lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes, and dynamically presents the lane change safety level determined in real time, thereby ensuring that the driver dynamically receives information on changes in the danger level throughout the entire merging process, thereby effectively assisting the driver in adjusting vehicle control in real time according to the dynamic notification, and further improving driver convenience and passenger comfort.

[0063] In one possible embodiment, referring to Fig. 5, in a preferred embodiment of the present application, the step of determining the lane change safety situation corresponding to the current lane change behavior shown in step S2100 of Fig. 2 includes the following steps S5100 to S5200: In S5100, a first vehicle speed and a first acceleration of a vehicle waiting to change lanes, and a second vehicle speed and a second acceleration of a target vehicle on the target lane are obtained.

[0064] The first vehicle speed and first acceleration of the vehicle waiting to change lanes may be acquired by a sensor on the vehicle waiting to change lanes, for example, a speed sensor and an acceleration sensor may be provided on the vehicle waiting to change lanes, and the first vehicle speed of the vehicle waiting to change lanes may be acquired by the speed sensor and the first acceleration of the vehicle waiting to change lanes may be acquired by the acceleration sensor. Alternatively, the first vehicle speed and first acceleration of the vehicle waiting to change lanes may be acquired by a vehicle controller (or an on-board terminal) of the vehicle waiting to change lanes.

[0065] It should be understood that in the embodiment of the present application, the first vehicle speed and the first acceleration of the vehicle waiting to change lanes are acquired in real time. For example, the first vehicle speed and the first acceleration of the vehicle waiting to change lanes are acquired in real time at a preset frequency. However, the preset frequency may be determined by the computing power of the server or the in-vehicle terminal, and is not specifically limited in the present application.

[0066] The target lane is a lane to which the vehicle waiting to change lanes wants to change, and is determined according to the driver's steering operation. At least one vehicle on the target lane that is closest to the vehicle waiting to change lanes can be set as the target vehicle. For example, when the driver triggers a left steering operation, the lane adjacent to the left of the lane in which the vehicle waiting to change lanes is located is set as the target lane, and a vehicle on that lane that is in front of and / or behind the vehicle waiting to change lanes on the left is set as the target vehicle. Also, when the driver triggers a right steering operation, the lane adjacent to the right of the lane in which the vehicle waiting to change lanes is located is set as the target lane, and a vehicle on that lane that is in front of and / or behind the vehicle waiting to change lanes on the right is set as the target vehicle.

[0067] In one possible embodiment, in a driving environment, the driver can clearly observe the driving situation of the vehicle ahead, but cannot clearly estimate the situation of the vehicle behind due to visual blind spots, etc., so it is preferable that the target vehicle is a vehicle behind on the target lane.

[0068] After the target vehicle on the target lane is determined, the second vehicle speed and second acceleration of the target vehicle can be obtained by collecting and analyzing information about the target vehicle.

[0069] In one possible embodiment, the target vehicle also communicates with the server via an in-vehicle terminal, and transmits its corresponding vehicle speed and acceleration to the server in real time, which are used as the second vehicle speed and second acceleration of the target vehicle.

[0070] In one possible embodiment, referring to FIG. 6, in a preferred embodiment of the present application, the step of acquiring a second vehicle speed and a second acceleration of a target vehicle on a target lane shown in step S5100 of FIG. 5 includes the following steps S5111 to S5112.

[0071] In S5111, image information of the target vehicle on the target lane is collected using the image collecting device.

[0072] In S5112, a second vehicle speed and a second acceleration of the target vehicle are determined based on the image information of the target vehicle.

[0073] That is, the image collecting device provided on the vehicle body is used to collect image information of the target vehicle, and the second vehicle speed and second acceleration of the target vehicle can be determined by analyzing the image information.

[0074] For example, at least two frames of image information of the target vehicle may be collected continuously at a preset frequency, and then the image information may be analyzed to determine the distance traveled by the target vehicle within a time interval of the preset frequency, and further a second vehicle speed and a second acceleration of the target vehicle may be determined from the time interval of the preset frequency and the distance traveled by the target vehicle.

[0075] In one possible embodiment, the step of determining the second speed and second acceleration of the target vehicle based on image information of the target vehicle further includes extracting feature information of the target vehicle based on the image information and determining the second speed and second acceleration of the target vehicle using a speed analysis model configured with a neural network. Specifically, at least two consecutive frames of image information of the target vehicle are input to a speed analysis model configured with a neural network, and the speed analysis model extracts features from the at least two consecutive frames of image information. The speed analysis model then analyzes the speed spectrum of the target vehicle using the neural network to determine the second speed and second acceleration of the target vehicle. As known to those skilled in the art, there are various types of neural networks. For example, convolutional neural networks (CNNs) are commonly used for image processing, recurrent neural networks (RNNs) are commonly used for time series data such as speech, and long short-term memory networks (LSTMs) are commonly used to extract temporal relationships between multiple sets of data at higher and lower levels. In one or more embodiments of the present application, multiple neural network models with different purposes may be provided as different feature extraction models. The input of each feature extraction model may be one or more types of velocity spectrum, and each velocity spectrum may be set as the input of which feature extraction model. That is, each feature extraction model may be set as the input of which velocity spectrum. The feature extraction model may be created based on learning multiple velocity spectrum samples. That is, the neural network may be pre-trained using a large amount of corresponding data to obtain a model file with good feature extraction capabilities. In addition, the neural network model may be updated as needed by methods such as retraining or periodic data updating to ensure the effectiveness of the model.

[0076] In one possible embodiment, referring to FIG. 7, in a preferred embodiment of the present application, the step of acquiring a second vehicle speed and a second acceleration of a target vehicle on a target lane shown in step S5100 of FIG. 5 includes the following steps S5121 to S5122.

[0077] In S5121, distance information of the target vehicle on the target lane is collected using a radar measurement device.

[0078] In S5122, a second vehicle speed and a second acceleration of the target vehicle are determined based on the distance information of the target vehicle.

[0079] However, the radar measurement device may be a millimeter-wave radar. Specifically, the millimeter-wave radar emits an electromagnetic signal, and when it encounters an obstacle (e.g., a vehicle ahead or a vehicle behind), the electromagnetic signal is reflected to form an echo signal. The millimeter-wave radar receives the echo signal and determines distance information between the target vehicle and the vehicle waiting to change lanes from the reception timing of the echo signal and the propagation speed of the electromagnetic wave. Next, from continuous distance information between the target vehicle and the vehicle waiting to change lanes, the Doppler shift of the echo signal is obtained according to the Doppler principle, and further determines a second vehicle speed and a second acceleration of the target vehicle.

[0080] In S5200, a lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the first vehicle speed, the first acceleration, the second vehicle speed, and the second acceleration.

[0081] After obtaining the first vehicle speed and first acceleration of the vehicle waiting to change lanes and the second vehicle speed and second acceleration of the target vehicle on the target lane, the first vehicle speed, the first acceleration, the second vehicle speed and the second acceleration can be comprehensively analyzed, and a lane change safety level corresponding to the vehicle waiting to change lanes can be further determined.

[0082] In one possible embodiment, referring to FIG. 8, in a preferred embodiment of the present application, the step of determining the lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes based on the first vehicle speed, first acceleration, second vehicle speed, and second acceleration shown in step S5200 of FIG. 5 includes the following steps S5211 to S5213.

[0083] In S5211, a first driving behavior of the vehicle waiting to change lanes is determined from the first vehicle speed and the first acceleration.

[0084] In S5212, a second driving behavior of the target vehicle is determined from the second vehicle speed and the second acceleration.

[0085] It should be understood that acceleration is information that indicates a change tendency of a vehicle's traveling speed, and that the driving behavior of a vehicle can be comprehensively analyzed from acceleration and speed information. For example, if the vehicle speed increases and acceleration also increases, it indicates that the vehicle is accelerating in a manner that increases acceleration. Alternatively, if the vehicle speed increases and acceleration decreases, it indicates that the vehicle is accelerating in a manner that decreases acceleration. Alternatively, if the vehicle speed decreases and the absolute value of acceleration increases (i.e., acceleration increases in a negative direction), it indicates that the vehicle is decelerating in a manner that increases acceleration. Alternatively, if the vehicle speed decreases and the absolute value of acceleration decreases (i.e., acceleration decreases in a negative direction), it indicates that the vehicle is decelerating in a manner that decreases acceleration.

[0086] In S5213, a safety level of the lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the first driving behavior and the second driving behavior.

[0087] That is, by analyzing the first driving behavior and the second driving behavior, the driving tendencies of the vehicle waiting to change lanes and the target vehicle can be determined, and the lane change safety level corresponding to the vehicle waiting to change lanes can be determined.

[0088] In one possible embodiment, referring to FIG. 9, in a preferred embodiment of the present application, the step of determining a lane change safety level corresponding to a vehicle waiting to change lanes from the first vehicle speed, first acceleration, second vehicle speed, and second acceleration shown in step S5200 of FIG. 5 includes the following steps S5221 to S5223.

[0089] In S5221, a first travel distance when the vehicle waiting to change lanes is expected to complete the lane change is determined from the first vehicle speed and the first acceleration.

[0090] After obtaining the first vehicle speed and the first acceleration, a first travel distance when the vehicle waiting to change lanes is expected to complete the lane change, i.e., a distance that the vehicle waiting to change lanes can travel within the expected time for the lane change to be completed, can be determined from the first vehicle speed and the first acceleration.

[0091] S a =V a t+1 / 2 a a ·t 2

[0092] In the formula, S a is the first distance traveled, and V a is the first vehicle speed, and a a is the first acceleration, and t is the expected time to complete the lane change of the vehicle waiting to change lanes. Here, the expected time to complete the lane change of the vehicle waiting to change lanes may be an expected time calculated from the first vehicle speed and the first acceleration, or may be a fixed value determined by experimental measurement.

[0093] In S5222, a second travel distance of the target vehicle when the lane change waiting vehicle is expected to complete the lane change is determined from the second vehicle speed and the second acceleration.

[0094] Similarly, after obtaining the second vehicle speed and second acceleration, a second travel distance of the target vehicle can be determined from the second vehicle speed and second acceleration, i.e., the distance that the target vehicle can travel when the lane change waiting vehicle is expected to complete the lane change.

[0095] Sb =V b t+1 / 2 a b ·t 2

[0096] In the formula, S b is the second distance traveled, and V b is the second vehicle speed, and a b is the second acceleration, and t is the expected time for the vehicle waiting to change lanes to complete the lane change.

[0097] In S5223, a lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the first travel distance and the second travel distance.

[0098] That is, the lane change safety level corresponding to the vehicle waiting to change lanes can be determined from the travel distances of the vehicle waiting to change lanes and the target vehicle. For example, if the target vehicle is a rear vehicle on the target lane, when the second travel distance of the target vehicle is greater than the first travel distance of the vehicle waiting to change lanes, it indicates that the distance between the vehicle waiting to change lanes and the target vehicle is rapidly decreasing, and with the current driving tendency, there is a risk of collision and the lane change safety level is low.

[0099] In one possible embodiment, in S5223, the step of determining a lane change safety level corresponding to the vehicle waiting to change lanes from the first mileage and the second mileage includes the steps of obtaining an initial distance between the vehicle waiting to change lanes and the target vehicle, determining a predicted distance between the vehicle waiting to change lanes and the target vehicle from the first mileage, the second mileage and the initial distance, and determining a lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes from the predicted distance.

[0100] It should be understood that when the initial distance between the vehicle waiting to change lanes and the target vehicle is sufficiently large, there is no risk of collision even if the first traveling distance is shorter than the second traveling distance. Therefore, in order to further improve the accuracy of determining the lane change safety level corresponding to the vehicle waiting to change lanes, the initial distance between the vehicle waiting to change lanes and the target vehicle is further increased, a predicted distance between the vehicle waiting to change lanes and the target vehicle is determined based on the initial distance, and a lane change safety level corresponding to the vehicle waiting to change lanes is further determined based on the predicted distance.

[0101] Preferably, the initial distance is the current distance between the vehicle waiting to change lanes and the target vehicle, i.e., the longitudinal distance in the target lane between the vehicle waiting to change lanes and the target vehicle at the current time. The predicted distance is the distance between the vehicle waiting to change lanes and the target vehicle after the expected time t for lane change completion, i.e., the predicted distance between the vehicle waiting to change lanes and the target vehicle after the expected time t for lane change completion after the vehicle waiting to change lanes has traveled at a first vehicle speed and a first acceleration, and the target vehicle has traveled at a second vehicle speed and a second acceleration for the expected time t for lane change completion. For example, as shown in Figure 10, the predicted distance is the distance between the vehicle waiting to change lanes and the target vehicle behind it when the vehicle changes lanes from the right lane at the current time to the left lane at the next time.

[0102] For example, the predicted distance can be expressed by the following formula:

[0103] S ab-new =S a -S b +S ab

[0104] In the formula, S a is the first distance traveled, and S b is the second distance traveled, and S ab is the initial distance, and S ab-new is the predicted distance.

[0105] In one possible embodiment, a lane change safety level corresponding to a vehicle waiting to change lanes can be determined from the predicted distance and a distance threshold corresponding to each lane change safety level.

[0106] Specifically, a plurality of distance thresholds correspond to lane change safety levels, and the plurality of distance thresholds are used to classify a plurality of lane change safety levels. ab-new is the first distance threshold S safe If the predicted distance S is greater than the predetermined distance S, the lane change safety level corresponding to the vehicle waiting to change lanes is determined to be an elementary safety level, which indicates that the lane change operation performed by the vehicle waiting to change lanes at the first vehicle speed and the first acceleration will be relatively safe after the time t. ab-new is the second distance threshold S danger If the predicted distance S is smaller than the predetermined distance S, the lane change safety level corresponding to the vehicle waiting to change lanes is determined to be a high-level safety level, which indicates that the lane change operation performed by the vehicle waiting to change lanes at the first vehicle speed and the first acceleration will be very dangerous after the time t. ab-new is the first distance threshold S safe and a second distance threshold S danger If the vehicle is between the first vehicle speed and the first acceleration, the lane change safety level corresponding to the vehicle waiting to change lanes is determined to be an intermediate safety level, and the intermediate safety level indicates that a lane change operation performed by the vehicle waiting to change lanes at the first vehicle speed and the first acceleration will have a certain degree of risk after time t, and the driver needs to be careful or perform an operation such as depressing the accelerator while maintaining a safe distance ahead.

[0107] The first distance threshold S safe and a second distance threshold S danger may be set according to actual conditions such as the safety driving requirements of the country where the vehicle is deployed and the performance of the vehicle. In the present application, the first distance threshold S safe and a second distance threshold S danger There are no specific limitations on the specific numerical values.

[0108] In some embodiments, in some special situations, this rule may not be applied, and a special algorithm may be used to define the position of the pointer. For example, in areas with heavy traffic, even if the calculated lane change safety level is an advanced safety level, as long as the speed of the following vehicle is close to zero or is slowing down, the lane change safety level may be instructed as an elementary safety level. Alternatively, when it is raining or snowing, a safety distance threshold corresponding to the weather may be used, thereby effectively improving the reliability of the lane change safety level warning when it is raining or snowing.

[0109] In one possible embodiment, the lane change safety level notification allows the driver to predict the risk of the next lane change at a first vehicle speed and a first acceleration, but changes in the target vehicle's driving will affect at least one future time. For example, if the following vehicle accelerates in a manner that increases acceleration, the risk of the next time may be low, but at a further future time, a problem of a sudden decrease in distance may occur due to a change in the speed of the following vehicle, which may affect driving safety.

[0110] Based on this, an embodiment of the present application further proposes presenting the second acceleration and / or the change trend of the second acceleration of the target vehicle to the driver.

[0111] For example, as shown in FIG. 11, an arrow may inform the driver that the acceleration of the target vehicle is accelerating or decelerating, or may inform the driver of the trend in the acceleration of the target vehicle, i.e., whether the acceleration is increasing or decreasing.

[0112] In one possible embodiment, the acceleration arrow indication may be displayed according to the relationship between the magnitude of the second acceleration and the acceleration threshold, where the acceleration threshold is used to indicate the acceleration situation of the target vehicle. accel indicates that the target vehicle is in an accelerating state, and the second acceleration threshold a brkindicates that the target vehicle is in a decelerating state, and the second acceleration is greater than the first acceleration threshold a accel If the second acceleration is greater than a second acceleration threshold a, an upward arrow is presented to notify the driver that the target vehicle is accelerating. brk If the first acceleration threshold a is smaller than the first acceleration threshold a, a downward arrow is displayed to notify the driver that the target vehicle is braking. For example, if the target vehicle is traveling at a substantially constant speed, its acceleration is close to 0, and the first acceleration threshold a accel and the second acceleration threshold a brk and therefore the second acceleration is between the first acceleration threshold a accel and the second acceleration threshold a brk If the target vehicle is between the predicted driving tendencies, no arrow is displayed, and the driver is notified that the target vehicle is maintaining the predicted driving tendencies and there are no other driving behavior tendencies that require attention.

[0113] In summary, the vehicle lane change assistance method proposed in the embodiments of the present application determines in real time the lane change safety level corresponding to the current lane change behavior of a vehicle waiting to change lanes, and dynamically presents the lane change safety level determined in real time, thereby ensuring that the driver dynamically receives information on changes in the danger level throughout the entire merging process, thereby effectively assisting the driver in adjusting vehicle control in real time according to the dynamic notification, and further improving driver convenience and passenger comfort.

[0114] Based on a similar inventive concept, FIG. 12 shows a schematic diagram of a lane change assist device 10 for a vehicle according to an embodiment of the present invention, the device 10 comprising: a decision module 11 for determining a lane change safety situation corresponding to the vehicle's current lane change behavior; and a presentation module 12 for dynamically presenting the determined lane change safety situation.

[0115] In some embodiments, the presentation module 12 further comprises: The safety level of the lane change safety situation is dynamically presented on a display device of the vehicle.

[0116] In some embodiments, the presentation module 12 further comprises: When the lane change safety level changes, the instruction mark is controlled to change from the first lane change safety level determined at the previous time to the lane change safety level of the second vehicle determined at the current time.

[0117] In some embodiments, the first lane change safety level and the second lane change safety level are lane change safety levels with different risk levels, and the presentation module 12 further The indicator mark is controlled to move from a first indicator area corresponding to the first lane change safety level to a second indicator area corresponding to the second lane change safety level.

[0118] In some embodiments, the first lane change safety level and the second lane change safety level are lane change safety levels with the same risk level, and the presentation module 12 further The indicator mark is controlled to move from a first indicator position corresponding to the first lane change safety level to a second indicator position corresponding to the second lane change safety level.

[0119] In some embodiments, the distance between the first indication position and the second indication position is positively correlated with the risk between the first lane change safety level and the second lane change safety level.

[0120] In some embodiments, the decision module 11 further comprises: acquiring a first vehicle speed and a first acceleration of the vehicle waiting to change lanes and a second vehicle speed and a second acceleration of the target vehicle on the target lane; A lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the first vehicle speed, first acceleration, second vehicle speed, and second acceleration.

[0121] In some embodiments, the decision module 11 further comprises: determining a first traveling distance when the lane change waiting vehicle is expected to complete the lane change from the first vehicle speed and the first acceleration; determining a second travel distance of the target vehicle when the lane change waiting vehicle is expected to complete the lane change from the second vehicle speed and the second acceleration; A safety level of a lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the first travel distance and the second travel distance.

[0122] In some embodiments, the decision module 11 further comprises: acquire an initial distance between the vehicle waiting to change lanes and the target vehicle; determining a predicted distance between the vehicle waiting to change lanes and the target vehicle from the first traveling distance, the second traveling distance, and the initial distance; From the predicted distance, a lane change safety level corresponding to the current lane change behavior of the waiting vehicle is determined.

[0123] In some embodiments, the decision module 11 further comprises: A lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined from the predicted distance and distance thresholds corresponding to the lane change safety levels corresponding to different risk levels.

[0124] In some embodiments, the decision module 11 further comprises: Using an image collection device to collect image information of the target vehicle on the target lane; A second vehicle speed and a second acceleration of the target vehicle are determined based on the image information of the target vehicle.

[0125] In some embodiments, the decision module 11 further comprises: Using a radar measurement device to collect distance information of the target vehicle on the target lane; A second vehicle speed and a second acceleration of the target vehicle are determined based on the distance information of the target vehicle.

[0126] In some embodiments, the decision module 11 further comprises: The second acceleration of the target vehicle and / or the change trend of the second acceleration are presented on a central control screen or a head-up display of the vehicle waiting to change lanes.

[0127] It will be understood that the configuration shown in FIG. 12 is only an example, and that the device may include more or fewer modules or components than those shown in FIG. 12, or may have a different configuration than that shown in FIG. 12.

[0128] The present application also provides a computer device, which according to one embodiment of the present invention may include a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, it can implement the steps of the vehicle lane change assistance method described in this specification.

[0129] The present application also provides a computer-readable medium, which may be included in the device described in the above embodiments, or may exist independently without being incorporated in the device. The computer-readable medium includes one or more programs, and when the one or more programs are executed by the device, the device can perform the steps of the vehicle lane change assistance method described herein.

[0130] Additionally, the present application further provides a computer program product including computer instructions that, when executed by a processor, can implement the steps of the method for vehicle lane change assistance described herein.

[0131] In particular, the processes of the embodiments described above with reference to the flowcharts in the figures may be implemented as a computer software program. For example, the embodiments disclosed herein include a computer program product including a computer program stored on a computer-readable medium, the computer program including program code for performing the methods shown in the flowcharts in the figures, and a processor executing the computer program to perform the methods of the present application.

[0132] It should be noted that the computer-readable medium described herein may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to, a computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0133] As used herein, a computer-readable storage medium may be any tangible medium that contains or has a program stored thereon, and the program may be used by or in combination with an instruction execution system, apparatus, or device. As used herein, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave and containing computer-readable program code. Such propagated data signals may have various 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, which may transmit, propagate, or transmit a program used by or in combination with an instruction execution system, apparatus, or device. The program code contained in a computer-readable medium may be transmitted by any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0134] Computer program code for carrying out the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and the like, as well as conventional procedural programming languages such as C or similar programming languages. The program code may run entirely on the user's computer, partially on the user's computer, as a standalone software package, partly on the user's computer and partly on a remote computer, or entirely on a remote computer or server. When remote computers are involved, the remote computers may be connected to the user's computer by any type of network, such as a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., by the Internet using an Internet Service Provider).

[0135] The flowcharts and block diagrams in the figures exemplarily illustrate system architectures, functions, and operations that can be implemented by systems, methods, and computer program products according to the embodiments of the present application. Each block in a flowchart or block diagram may represent a module, program segment, or portion of code, which includes one or more executable instructions for implementing a given logical function. Note that in some alternative embodiments, the functions described in the blocks may occur in a different order than depicted in the figures. For example, depending on the given function, two sequentially shown blocks may actually be executed substantially in parallel, or may even be executed in the reverse order. Furthermore, each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented in a dedicated hardware system that performs the given function or operation, or in a combination of dedicated hardware and computer instructions.

[0136] The units or modules according to the embodiments of the present application may be implemented in software or hardware. The units or modules may be provided in a processor, and may be described as including, for example, a first acquisition module, a second acquisition module, a determination module, a presentation module, etc. The names of these units or modules, as the case may be, do not constitute limitations on the units or modules themselves.

[0137] All documents mentioned herein are incorporated by reference into this application as if each document were incorporated by reference in its entirety.

[0138] It should also be understood that, after reading the above description of the present invention, those skilled in the art may make various changes or modifications to the present invention, and that equivalent forms thereof also fall within the scope of protection of the present invention.

Claims

1. determining a lane change safety situation corresponding to the vehicle's current lane change behavior; dynamically presenting the determined lane change safety situation; A lane change assistance method for a vehicle, comprising:

2. The step of dynamically presenting the determined lane change safety situation includes:

2. The method for assisting a vehicle in changing lanes according to claim 1, further comprising the step of dynamically presenting a safety level of the lane change safety situation on a display device of the vehicle.

3. The step of dynamically presenting the determined lane change safety level includes:

3. The lane change assistance method for a vehicle according to claim 2, further comprising a step of controlling the indication mark to change from a first lane change safety level determined at a previous time to a second lane change safety level determined at a current time when the lane change safety level has changed.

4. The first lane-changing safety level and the second lane-changing safety level are lane-changing safety levels having different degrees of risk, and the step of controlling the indication mark to change from the lane-changing safety level determined at a previous time to the lane-changing safety level determined at a current time includes:

4. The lane change assistance method for a vehicle according to claim 3, further comprising a step of controlling the indication mark to move 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.

5. The first lane-changing safety level and the second lane-changing safety level are lane-changing safety levels having the same degree of risk, and the step of controlling the indication mark to change from the lane-changing safety level determined at a previous time to the lane-changing safety level determined at a current time includes:

4. The lane change assistance method for a vehicle according to claim 3, further comprising a step of controlling the indication mark to move from a first indication position corresponding to the first lane change safety level to a second indication position corresponding to the second lane change safety level.

6. 6. The lane change assistance method for a vehicle according to claim 5, wherein the distance between the first indication position and the second indication position is positively correlated with a degree of risk between the first lane change safety level and the second lane change safety level.

7. determining a lane change safety situation corresponding to a current lane change behavior of the vehicle; acquiring a first vehicle speed and a first acceleration of a vehicle waiting to change lanes and a second vehicle speed and a second acceleration of a target vehicle on the target lane; and determining a lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes from the first vehicle speed, the first acceleration, the second vehicle speed, and the second acceleration.

8. determining a lane change safety situation corresponding to the vehicle waiting to change lanes from the first vehicle speed, the first acceleration, the second vehicle speed, and the second acceleration, determining a first traveling distance when the lane change waiting vehicle is expected to complete the lane change from the first vehicle speed and the first acceleration; determining a second travel distance of the target vehicle when the lane change waiting vehicle is expected to complete the lane change from the second vehicle speed and the second acceleration; and determining a safety level of a lane change safety situation corresponding to a current lane change behavior of the vehicle waiting to change lanes from the first travel distance and the second travel distance.

9. The step of determining a safety level of a lane change safety situation corresponding to a current lane change behavior of the vehicle waiting to change lanes from the first traveling distance and the second traveling distance includes: acquiring an initial distance between the vehicle waiting to change lanes and the target vehicle; determining a predicted distance between the vehicle waiting to change lanes and the target vehicle from the first traveling distance, the second traveling distance, and the initial distance; and determining, from the predicted distance, a lane change safety level corresponding to the current lane change behavior of the waiting vehicle.

10. The step of determining a lane change safety level corresponding to the vehicle waiting to change lanes from the predicted distance includes:

10. The method of claim 9, further comprising determining a lane change safety level corresponding to a current lane change behavior of the vehicle waiting to change lanes from the predicted distance and distance thresholds corresponding to the lane change safety levels corresponding to different risk levels.

11. collecting image information of the target vehicle on the target lane using an image collection device; 8. The method of claim 7, further comprising determining a second vehicle speed and a second acceleration of the target vehicle based on the image information of the target vehicle.

12. collecting distance information of the target vehicle on the target lane using a radar measurement device; 8. The method of claim 7, further comprising: determining a second vehicle speed and a second acceleration of the target vehicle based on the target vehicle distance information.

13. 8. The method according to claim 7, further comprising the step of presenting the second acceleration of the target vehicle and / or a change trend of the second acceleration on the display device of the vehicle waiting to change lanes.

14. a decision module for determining a lane change safety situation corresponding to the vehicle's current lane change behavior; a presentation module for dynamically presenting the determined lane change safety situation; A lane change assist device for a vehicle, comprising:

15. A computing device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, performs the steps of the method of any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, the computer-readable storage medium being characterized in that, when the program is executed by a processor, the steps of the method according to any one of claims 1 to 13 are realized.

17. A computer program product comprising computer instructions, which when executed by a processor cause the steps of the method of any one of claims 1 to 13 to be implemented.

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