Vehicle lane change assistance method and device

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 more specifically to a method and apparatus for assisting vehicle lane changes. [Background technology]

[0002] As the automotive industry continues to grow and people's living standards constantly improve, vehicles are becoming an integral part of daily life. However, the process of driving a vehicle makes it susceptible to the influence of other surrounding vehicles. For example, when changing lanes, if a vehicle behind in the target lane accelerates, maintains a constant speed, or slightly decelerates, it becomes difficult for the driver to intuitively judge the current situation. To avoid an accident, the driver can accelerate to merge, but insufficient acceleration or too short a distance can compromise safety. Alternatively, braking and waiting can cause the driver to miss the opportunity to merge, leading to hesitation and difficulty in merging.

[0003] To address the above problems, related technologies have proposed monitoring the distance to the following vehicle and sounding a buzzer to warn the driver if the distance is too short. However, with such warning methods, it is difficult for drivers to intuitively, dynamically, and in real time grasp the risks of changing lanes, making it difficult to make better decisions for safe driving, and furthermore, it is not possible to adjust in real time according to the control of the vehicle.

[0004] Therefore, in order to overcome the above-mentioned problems, there is an urgent need to provide a supplementary visualization warning method and device that can reflect dangerous situations during lane changes in real time and dynamically.

[0005] Furthermore, the information disclosed in the background technology section above is intended to deepen understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] The present invention provides a vehicle lane change assistance method and device that can ensure that the driver dynamically receives information on changes in the danger level throughout the entire merging process, in order to solve the problems that exist in the prior art. [Means for solving the problem]

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

[0008] In some embodiments, the step of dynamically presenting the determined safety status of the lane change includes the step of dynamically presenting the safety level of the safety status of the lane change in the vehicle's display device.

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

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

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

[0012] In some embodiments, the distance between the first indication position and the second indication position has a positive correlation with the level of risk between the safety situation of the first lane change and the safety situation of the second lane change.

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

[0014] In some embodiments, the step of determining the safety situation of the lane change corresponding to the vehicle waiting to change lanes from the first vehicle speed, the first acceleration, the second vehicle speed, and the second acceleration includes the steps of determining a first travel distance when the lane change of the vehicle waiting to change lanes is expected to be completed from the first vehicle speed and the first acceleration, determining a second travel distance of the target vehicle when the lane change of the vehicle waiting to change lanes is expected to be completed from the second vehicle speed and the second acceleration, and determining the safety situation of the lane change corresponding to the current lane change behavior of the vehicle waiting to change lanes from the first travel distance and the second travel distance.

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

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

[0017] In some embodiments, it further includes: collecting image information of the target vehicle on the target lane by 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, it further includes: collecting distance information of the target vehicle on the target lane by using a radar measurement device; 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, it further includes: presenting, on the display device of the vehicle waiting for a lane change, the second acceleration of the target vehicle and / or the change trend of the second acceleration.

[0020] According to another aspect of the present application, also, a determination module for determining the safety status of a lane change corresponding to the current lane change behavior of a vehicle; A vehicle lane change assistance device is provided, which includes a display module that dynamically displays the safety status of the determined lane change.

[0021] Another aspect of the present invention also provides a computer device comprising memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-described vehicle lane change assistance method when executing the program.

[0022] Another aspect of the present invention provides a computer-readable storage medium in which a computer program is stored, and the steps of the above-described vehicle lane change assistance method are realized when the program is executed by a processor.

[0023] Another aspect of the present invention provides a computer program product including a computer instruction, wherein the steps of the above-described vehicle lane change assistance method are realized when the computer instruction is executed by a processor. [Effects of the Invention]

[0024] The vehicle lane change assistance method and device proposed by the embodiment of the present invention determine the safety status of the lane change corresponding to the vehicle's current lane change behavior and dynamically presents the determined safety status of the lane change in real time, thereby ensuring that the driver dynamically receives information on changes in dangerous situations throughout the merging process. This effectively assists the driver in adjusting vehicle control in real time in response to dynamic notifications, and further improves driver convenience and passenger comfort.

[0025] The above and other features of the present invention will be described below with reference in detail to specific exemplary embodiments shown in the drawings, but these exemplary embodiments are provided below for illustrative purposes only and are not intended to limit the present invention. [Brief explanation of the drawing]

[0026] [Figure 1] An exemplary system architecture applicable to one specific embodiment of the vehicle lane change assistance method of the present invention is shown. [Figure 2] A flowchart of a vehicle lane change assistance method according to one embodiment of the present invention is shown. [Figure 3] This diagram shows the effect of the presentation position according to one embodiment of the present invention. [Figure 4] This diagram shows the effect of a dynamic presentation according to one embodiment of the present invention. [Figure 5] A flowchart of a method for assisting another vehicle in changing lanes according to one embodiment of the present invention is shown. [Figure 6] A flowchart of yet another vehicle lane change assistance method according to one embodiment of the present invention is shown. [Figure 7] A flowchart of yet another vehicle lane change assistance method according to one embodiment of the present invention is shown. [Figure 8] A flowchart of yet another vehicle lane change assistance method according to one embodiment of the present invention is shown. [Figure 9] A flowchart of yet another vehicle lane change assistance method according to one embodiment of the present invention is shown. [Figure 10] This diagram shows a schematic representation of the principle of lane changes for vehicles waiting to change lanes, according to one embodiment of the present invention. [Figure 11] A schematic diagram of the lane change warning light area according to one embodiment of the present invention is shown. [Figure 12] This diagram shows a schematic configuration of a vehicle lane change assistance device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0027] The present invention will now be described in detail through specific examples so that those skilled in the art can easily implement the invention based on what is disclosed herein. The examples described below are not all examples of the present invention, but only a selection. All other examples that those skilled in the art can obtain without creative effort based on the examples described herein are all within the scope of the protection of the present invention. The examples and features of the examples herein can be combined with each other as long as they do not conflict.

[0028] The terms used herein are not limitations on the invention but merely to describe specific embodiments. Unless otherwise specified in the context, the singular forms “one,” “one kind,” and “the sole” as used herein include the plural forms “plural,” “plural kinds,” and “the sole.” The terms “first,” “second,” etc., as used herein are merely used to distinguish different features, steps, operations, elements, and / or parts, etc., and do not represent any specific technical meaning or a necessary logical order between them. The term “plural” as used herein may refer to two or more, and the term “at least one” may refer to one, two, or more. Any features, steps, operations, elements, and / or parts referred to herein are generally understood as one or plural unless otherwise specified in the context. Furthermore, as used herein, the terms “includes” and / or “contains” mean that the features, steps, operations, elements, and / or components described herein exist, and do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The terms “and / or” as used herein should be understood to include any or all combinations of one or more related descriptions. In this specification, “module” and “unit” as described after “element” are merely for the sake of clarity and can be used interchangeably; they have no distinguishing meaning or function whatsoever.

[0029] Prior art related to the description of the present invention is obvious to those skilled in the art, and therefore its detailed description is omitted. Furthermore, in this specification, the description of each example focuses on the differences between each example, and the same or similar parts between examples may refer to each other. Therefore, for the sake of brevity, it should be understood that these will not be explained one by one in this specification.

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

[0031] The radar measuring device 101 and the image acquisition device 102 are installed around the vehicle body, respectively, to measure distance information between the vehicle and surrounding vehicles and to collect image information of surrounding vehicles. However, the radar measuring device 101 and the image acquisition device 102 interact with the server 105 via the network 104, transmitting the measured distance information between the vehicle and surrounding vehicles and the image information of surrounding vehicles to the server 105 via the network 104. Based on this, the server 105 determines the safety level for lane changes based on the distance information between the vehicle and surrounding vehicles and the image information of surrounding vehicles, and transmits this to the in-vehicle terminal 103 via the network 104.

[0032] The 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 image and video capture applications, text input applications, web browser applications, specialized application software, search applications, instant messengers, email clients, and social platform software.

[0033] In practical implementation, the in-vehicle terminal 103 may be implemented as hardware or as software, depending on the actual needs. When the in-vehicle terminal 103 is implemented as hardware, it may be any electronic device 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 PCs, smartphones, in-vehicle terminals, e-readers, and video players. When the in-vehicle terminal 103 is implemented as software, it may be installed on an appropriate electronic device and implemented as multiple software or software modules (for example, to provide distributed services), or as a single software or software module. Hereinafter, Figure 1 and the example of the in-vehicle terminal 103 described above are merely examples and should not be understood as specific limitations.

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

[0035] In practical implementation, server 105 may be implemented as hardware or as software, depending on the actual needs. When 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 server 105 is implemented as software, it may be implemented as multiple software or software modules (for example, to provide distributed services) or as a single software or software module. Hereinafter, Figure 1 and the example of server 105 described above are merely examples and should not be understood as specific limitations.

[0036] The vehicle lane change assistance method provided by the embodiment of this application may be executed by the in-vehicle terminal 103, by the server 105, or 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, in the server 105, or in both 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 invention is executed by the in-vehicle terminal 103, the system architecture 100 described above 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 shown in Figure 1 are merely schematic. In actual implementation, any number and types of terminal devices, networks, and servers may be used depending on the actual needs.

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

[0040] S2100 determines the safety status of a lane change in response to the vehicle's current lane change behavior.

[0041] Furthermore, for all vehicles in motion, it is possible to evaluate the safety status of lane changes corresponding to the current lane change behavior, that is, the safety status of lane changes corresponding to the active lane change behavior of vehicles that tend to change lanes, or the safety status of passive lane changes made by vehicles that do not tend to change lanes due to the influence of the lane change behavior of other vehicles.

[0042] Here, a vehicle prone to changing lanes may also be a vehicle waiting to change lanes. Depending on the driver's control, the vehicle can be determined to be a vehicle waiting to change lanes (a vehicle prone to changing lanes). For example, if the driver activates the turn signal and the steering wheel angle is monitored to be smaller than a preset angle, the vehicle is determined to be a vehicle waiting to change lanes. In other words, if the driver needs to change direction but does not need to steer, the driver decides to control the vehicle to change lanes.

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

[0044] Furthermore, the safety level of a lane change corresponding to the current lane change behavior of a vehicle waiting to change lies in the degree of danger if the vehicle waiting to change lanes were to complete the lane change with its current driving behavior.

[0045] The S2200 dynamically displays the safety status of the decided lane change.

[0046] In one feasible embodiment, a display device for a vehicle waiting to change lanes may dynamically display the safety level of the lane change safety status, where the vehicle's display device includes, but is not limited to, a central control screen or a head-up display.

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

[0048] Furthermore, dynamically presenting the safety status of lane changes primarily involves presenting the process or result of a change when the safety level of the lane change changes. However, the safety level may be shown in various forms, such as a coefficient, a change in color, or a continuous progress bar. In the embodiment of this application, the instrument panel type progress bar shown in Figure 3 is used as an example.

[0049] Specifically, when the safety level for a lane change changes, the instruction 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 safety level of the first lane change determined at the previous time and the safety level of the second lane change determined at the current time do not match at a predetermined frequency, it is determined that the safety level of the lane change has changed. At this time, the indicator mark that indicates the safety level of the lane change changes, that is, it changes from the safety level of the first lane change to the safety level of the second lane change.

[0051] It should be understood that the method of change may differ if the presentation method or instruction mark differs. In one embodiment of the present invention, the instrument panel shown in Figure 4 presents multiple road safety levels, and then the safety level of the lane change, determined in real time, can be dynamically presented using a pointer. Here, in the instrument panel shown in Figure 4, the road safety levels are divided into three levels: basic safety level, intermediate safety level, and advanced safety level.

[0052] In one implementable embodiment, the first lane change safety level and the second lane change safety level are lane change safety levels with different degrees of danger, and the step of controlling the indicator 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 indicator mark 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.

[0053] For example, as shown in Figure 4(a), the instrument panel for indicating road safety levels is divided into multiple indicator areas. Here, the safety level for the first lane change is the basic safety level, and the safety level for the second lane change is the intermediate safety level. The basic and intermediate safety levels correspond to different indicator areas, and when the safety level for a lane change changes from the safety level for the first lane change to the safety level for the second lane change, the pointer moves from the indicator area corresponding to the safety level for the first lane change to the indicator area corresponding to the safety level for the second lane change, thereby alerting the driver of the vehicle waiting to change lanes to the change in risk corresponding to the current lane change behavior.

[0054] In another feasible 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 indicator 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 indicator mark 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.

[0055] However, the distance between the first and second instruction positions is positively correlated with the risk level 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 indicator on the instrument panel is positively correlated with the degree of danger in the road safety level. That is, the higher the degree of danger in the road safety level, the closer the indicator is to the danger mark on the instrument panel, and the lower the degree of danger in the road safety level, the closer the indicator is to the safe mark on the instrument panel.

[0057] For example, as shown in Figure 4(b), both the safety level of the first lane change and the safety level of the second lane change are at an intermediate safety level. However, the safety level of the first lane change is less dangerous, while the safety level of the second lane change is more dangerous. Therefore, when the safety level of the lane change changes from the safety level of the first lane change to the safety level of the second lane change, the pointer moves from the indicator position corresponding to the safety level of the first lane change to the indicator position corresponding to the safety level of the second lane change. This alerts the driver of the vehicle waiting to change lanes to the change in the level of danger corresponding to the current lane change behavior.

[0058] In the embodiments of the present invention, it should be understood that by dynamically presenting the safety level of a lane change determined in real time, it is possible to effectively encourage drivers of vehicles waiting to change lanes to choose more appropriate driving behavior. For example, when there are no other vehicles ahead in the target lane, the driver of a vehicle waiting to change lanes can choose to continue the lane change with the current lane change behavior if the road safety level is at a basic safety level, or to accelerate and complete the lane change if the road safety level is at an intermediate safety level, or to miss the current lane change opportunity if the road safety level is at a high safety level.

[0059] In one feasible embodiment, different safety levels for lane changes can be marked with different colors on the instrument panel, providing drivers with more intuitive visual attention.

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

[0061] For example, areas representing basic safety levels correspond to green, intermediate safety levels to yellow, and advanced safety levels to red, so that the pointer moves through areas of different colors as it moves through each instruction area on the instrument panel.

[0062] As a result, the vehicle lane change assistance method proposed by the embodiment of the present invention can determine the safety level of the lane change in real time corresponding to the current lane change behavior of a vehicle waiting to change lanes, and dynamically present the determined safety level of the lane change in real time, thereby ensuring that the driver dynamically receives information on changes in the danger level throughout the entire merging process. This effectively assists the driver in adjusting vehicle control in real time in response to dynamic notifications, and further improves driver convenience and passenger comfort.

[0063] In one feasible embodiment, referring to Figure 5, in a preferred embodiment of the present application, the step of determining the safety status of a lane change corresponding to the current lane change behavior shown in step S2100 of Figure 2 includes the following steps S5100 to S5200. In S5100, 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 are obtained.

[0064] Alternatively, the first vehicle speed and first acceleration of the vehicle waiting to change lanes may be obtained by sensors on the vehicle waiting to change lanes. For example, the vehicle waiting to change lanes may be equipped with a speed sensor and an acceleration sensor, with the speed sensor obtaining the first vehicle speed and the acceleration sensor obtaining the first acceleration of the vehicle waiting to change lanes. Or, the first vehicle speed and first acceleration of the vehicle waiting to change lanes may be obtained by the vehicle controller (or in-vehicle terminal) of the vehicle waiting to change lanes.

[0065] In the embodiments of this application, it should be understood that the first vehicle speed and first acceleration of a vehicle waiting to change lanes are acquired in real time. For example, the first vehicle speed and first acceleration of a 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 in-vehicle terminal, and is not specifically limited in this application.

[0066] The target lane is the lane that the vehicle waiting to change lanes wants to switch to. The target lane is determined according to the driver's steering input, and at least one vehicle closest to the vehicle waiting to change lanes on that target lane can be designated as the target vehicle. For example, if the driver triggers a left steering input, the lane adjacent to the left of the lane where the vehicle waiting to change lanes is located is designated as the target lane, and the vehicles located to the left front and / or left rear of the vehicle waiting to change lanes on that lane are designated as the target vehicles. If the driver triggers a right steering input, the lane adjacent to the right of the lane where the vehicle waiting to change lanes is located is designated as the target lane, and the vehicles located to the right front and / or right rear of the vehicle waiting to change lanes on that lane are designated as the target vehicles.

[0067] In one feasible embodiment, in a driving environment, the driver can observe the driving situation of the vehicle in front well, but cannot accurately estimate the situation of the vehicle behind due to visual blind spots, etc., therefore, the target vehicle is preferably a vehicle behind in the target lane.

[0068] After a 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 feasible embodiment, the target vehicle also communicates with the server via an in-vehicle terminal, transmitting its corresponding vehicle speed and acceleration to the server in real time, which are then used as the target vehicle's second vehicle speed and second acceleration.

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

[0071] In S5111, an image acquisition device is used to collect image information of the target vehicle on the target lane.

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

[0073] In other words, by using an image acquisition device installed on the vehicle body to collect image information of the target vehicle and analyzing that image information, the second vehicle speed and second acceleration of the target vehicle can be determined.

[0074] For example, image information of a target vehicle may be collected for at least two consecutive frames at a predetermined frequency, the distance traveled by the target vehicle within a predetermined time interval may be determined by analyzing the image information, and a second vehicle speed and a second acceleration of the target vehicle may be determined from the predetermined time interval and the distance traveled by the target vehicle.

[0075] In one implementable embodiment, the step of determining a second vehicle speed and a second acceleration of a target vehicle based on image information of the target vehicle further includes the step of extracting feature information of the target vehicle based on the image information and determining the second vehicle speed and a second acceleration of the target vehicle by a velocity analysis model composed of a neural network. Specifically, image information of the target vehicle from at least two consecutive frames is input to a velocity analysis model composed of a neural network, the velocity analysis model extracts features from the image information from at least two consecutive frames, and the second vehicle speed and a second acceleration of the target vehicle are determined by analyzing the velocity spectrum of the target vehicle by the neural network. As is known to those skilled in the art, there are various types of neural networks, for example, convolutional neural networks (CNNs) are generally used for image processing, recurrent neural networks (RNNs) are generally used for time-series data such as speech, and long-short-term memory networks (LSTMs) are generally used to extract the temporal relationships between multiple sets of data, both high-level and low-level. In one or more embodiments of the present application, multiple neural network models with different purposes may be provided as different feature extraction models, and the input to each feature extraction model may be one or more types of velocity spectra, and it is set which or which feature extraction model each type of velocity spectrum is input to, that is, it is set which or which velocity spectrum each feature extraction model is input to. The feature extraction model can be created based on learning of multiple velocity spectrum samples, that is, the neural network can be given good feature extraction capability by pre-training it with a large amount of data of the corresponding type to obtain a model file. In addition, the neural network model may be updated by methods such as retraining or periodic data updates as needed to ensure the effectiveness of the model.

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

[0077] In S5121, a radar measuring device is used to collect distance information of target vehicles on the target lane.

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

[0079] However, the radar measuring 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 in front or behind), the electromagnetic signal is reflected to form an echo signal, which the millimeter-wave radar receives. Furthermore, distance information between the target vehicle and the vehicle waiting to change lanes is determined from the timing of echo signal reception and the propagation speed of the electromagnetic wave. Next, the Doppler shift of the echo signal is obtained from the continuous distance information between the target vehicle and the vehicle waiting to change lanes using the Doppler principle, and further, the second vehicle speed and second acceleration of the target vehicle are determined.

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

[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 in the target lane, the first vehicle speed, first acceleration, second vehicle speed, and second acceleration can be comprehensively analyzed to determine the safety level of the lane change corresponding to the vehicle waiting to change lanes.

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

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

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

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

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

[0087] In other words, by analyzing the first and second driving behaviors, it is possible to determine the driving tendencies of the vehicle waiting to change lanes and the target vehicle, and to determine the safety level of the lane change corresponding to the vehicle waiting to change lanes.

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

[0089] In S5221, a first distance traveled is determined from a first vehicle speed and a first acceleration, based on the estimated time when the vehicle waiting to change lanes will complete its lane change.

[0090] Furthermore, after obtaining the first vehicle speed and the first acceleration, it is possible to determine from the first vehicle speed and the first acceleration the first distance traveled when the vehicle waiting to change lanes is expected to complete its lane change, that is, the distance that can be traveled within the expected time for the vehicle waiting to change lanes to complete its lane change.

[0091] S a =V a ·t+1 / 2·a a ·t 2

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

[0093] In S5222, the second distance traveled by the target vehicle is determined from the second vehicle speed and second acceleration when the vehicle waiting to change lanes is expected to complete its lane change.

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

[0095] Sb =V b ·t + 1 / 2·a b ·t 2

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

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

[0098] That is, the safety level of the lane change corresponding to the vehicle waiting for lane change can be determined from the travel distances of the vehicle waiting for lane change and the target vehicle. Taking the case where the target vehicle is a vehicle behind on the target lane as an example, when the second travel distance of the target vehicle is greater than the first travel distance of the vehicle waiting for lane change, the distance between the vehicle waiting for lane change and the target vehicle is rapidly shrinking, and in the current driving tendency, there is a risk of collision, indicating that the safety level of the lane change is low.

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

[0100] It should be understood that if 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 travel distance is less than the second travel distance. Therefore, in order to further improve the accuracy of judging the safety level of a lane change in response to a vehicle waiting to change lanes, the initial distance between the vehicle waiting to change lanes and the target vehicle is further increased, the predicted distance between the vehicle waiting to change lanes and the target vehicle is determined based on the initial distance, and then the safety level of a lane change in response to a vehicle waiting to change is determined from 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 predicted time t for the completion of the lane change, i.e., the predicted distance between the vehicle waiting to change lanes and the target vehicle after the predicted time t for the completion of the lane change, after the vehicle waiting to change lanes has traveled for the predicted time t at a first speed and first acceleration, and the target vehicle has traveled for the predicted time t at a second speed and second acceleration. Exemplarily, 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 This is the first distance traveled, S b This is the second distance traveled, S ab This is the initial distance, S ab-new This is the predicted distance.

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

[0106] Specifically, multiple distance thresholds correspond to the safety levels of lane changes, and these multiple distance thresholds are used to differentiate the safety levels of multiple lane changes. For example, the predicted distance S ab-new The first distance threshold S safe If the value is greater than the predicted distance S, the safety level of the lane change corresponding to the vehicle waiting to change lanes is determined to be the lower safety level, and the lower safety level indicates that the lane change operation performed by the vehicle waiting to change lanes at a first speed and first acceleration will be relatively safe after time t. ab-new The second distance threshold S danger If the value is smaller, the safety level of the lane change corresponding to the vehicle waiting to change lanes is determined to be a higher safety level, and a higher safety level indicates that the lane change operation performed by the vehicle waiting to change lanes at a first speed and first acceleration will be extremely dangerous after time t. Predicted distance S ab-new The first distance threshold S safe and the second distance threshold S danger If the situation falls between the specified values, the safety level of the lane change corresponding to the vehicle waiting to change lanes is determined to be an intermediate safety level. An intermediate safety level indicates that a lane change operation performed by the vehicle waiting to change lanes at a first speed and first acceleration will pose a certain risk after t hours, and the driver must exercise sufficient caution or take actions such as pressing the accelerator while maintaining a safe distance ahead.

[0107] Note that the first distance threshold S safe and the second distance threshold S danger This may be set according to actual circumstances, such as the safe driving requirements of the country where the vehicle is deployed and the performance of the vehicle. In this application, the first distance threshold S is... safe and the second distance threshold S danger The specific numerical values ​​are not given any concrete limits.

[0108] In some embodiments, this rule may not apply in certain special circumstances, and a special algorithm may be used to define the position pointed to by the pointer. For example, in areas with traffic congestion, even if the calculated safety level for a lane change is a high safety level, the system may indicate a low safety level as long as the speed of the following vehicle is close to zero or slowing down. Alternatively, a weather-appropriate safety distance threshold may be used in the case of rain or snow, thereby effectively improving the reliability of warnings about the safety level of lane changes in the case of rain or snow.

[0109] In one feasible embodiment, notification of the safety level of a lane change allows a driver to predict in advance the degree of risk at the next moment when changing lanes at a first speed and first acceleration, but changes in the target vehicle's movement will affect at least one future moment. For example, if the following vehicle accelerates in a way that increases acceleration, the degree of risk at the next moment may be low, but at the moment after that, a problem may arise where the distance decreases rapidly due to the change in the following vehicle's speed, potentially affecting driving safety.

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

[0111] For example, as shown in Figure 11, arrows may be used to inform the driver whether the target vehicle's acceleration is in the accelerating or decelerating direction, or the driver may be informed of the target vehicle's acceleration trend, that is, whether the acceleration is increasing or decreasing.

[0112] In one feasible embodiment, the acceleration arrow may be displayed according to the relationship between the magnitude of the second acceleration and an acceleration threshold, where the acceleration threshold is used to indicate the acceleration status of the target vehicle. Exemplarily, the first acceleration threshold a accel This indicates that the target vehicle is in a state of accelerating, and the second acceleration threshold a brkThis indicates that the target vehicle is in a state of deceleration, and the second acceleration is equal to the first acceleration threshold a accel If the second acceleration is greater than the second acceleration threshold a, an upward arrow is displayed to notify the driver that the target vehicle is accelerating, and the second acceleration is greater than the second acceleration threshold a. brk If the value is smaller, 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 nearly constant speed, its acceleration is close to 0, and the first acceleration threshold a accel and the second acceleration threshold a brk It lies between and therefore the second acceleration is equal to the first acceleration threshold a accel and the second acceleration threshold a brk If the vehicle is between these two points, the system will not display an arrow and will inform the driver that the target vehicle is maintaining its predicted driving tendencies and that there are no other driving behaviors that require attention.

[0113] In short, the vehicle lane change assistance method proposed by the embodiment of the present invention determines the safety level of the lane change in real time corresponding to the current lane change behavior of a vehicle waiting to change lanes, and dynamically presents the determined safety level of the lane change in real time. This ensures 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 in response to dynamic notifications, and further improving driver convenience and passenger comfort.

[0114] Based on a similar inventive concept, Figure 12 shows a schematic diagram of the configuration of a vehicle lane change assistance device 10 according to one embodiment of the present invention, wherein the device 10 comprises: A decision module 11 determines the safety status of a lane change corresponding to the vehicle's current lane change behavior, The system includes a presentation module 12 that dynamically presents the safety status of the determined lane change.

[0115] In some embodiments, the presented module 12 further... The vehicle's display device dynamically displays the safety level of the lane change safety situation.

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

[0117] In some embodiments, the safety level of the first lane change and the safety level of the second lane change are safety levels of lane changes with different degrees of risk, and the presented module 12 further... The system controls the indicator mark to move from a first indicator area corresponding to the safety level of the first lane change to a second indicator area corresponding to the safety level of the second lane change.

[0118] In some embodiments, the safety level of the first lane change and the safety level of the second lane change are safety levels of lane changes with the same degree of risk, and the presented module 12 further, The system controls the indicator mark to move from a first indicator position corresponding to the safety level of the first lane change to a second indicator position corresponding to the safety level of the second lane change.

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

[0120] In some embodiments, the decision module 11 further... The system obtains the first vehicle speed and first acceleration of a vehicle waiting to change lanes, and the second vehicle speed and second acceleration of a target vehicle in the target lane. Based on the first vehicle speed, first acceleration, second vehicle speed, and second acceleration, the safety status of the lane change corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined.

[0121] In some embodiments, the decision module 11 further... From the first vehicle speed and the first acceleration, a first travel distance is determined when the lane change of the vehicle waiting to change lanes is expected to be completed. From the second vehicle speed and the second acceleration, the second distance traveled by the target vehicle when the lane change of the waiting vehicle is expected to complete is determined. Based on the first and second driving distances, the safety level of the lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined.

[0122] In some embodiments, the decision module 11 further... The initial distance between the vehicle waiting to change lanes and the target vehicle is obtained. From the first distance traveled, the second distance traveled, and the initial distance, the predicted distance between the vehicle waiting to change lanes and the target vehicle is determined. Based on the predicted distance, the safety level of the lane change corresponding to the current lane change behavior of the vehicle waiting to change lanes is determined.

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

[0124] In some embodiments, the decision module 11 further... Using an image acquisition device, image information of the target vehicle on the target lane is collected. Based on the image information of the target vehicle, the second vehicle speed and second acceleration of the target vehicle are determined.

[0125] In some embodiments, the decision module 11 further... Using a radar measuring device, distance information of the target vehicle on the target lane is collected. Based on the distance information of the target vehicle, the second vehicle speed and second acceleration of the target vehicle are determined.

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

[0127] The configuration shown in Figure 12 is merely an example, and it should be understood that the device may include more or fewer modules or components than those shown in Figure 12, or may have a different configuration from that shown in Figure 12.

[0128] Furthermore, the present invention 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, wherein the processor can implement the steps of the vehicle lane change assistance method described herein when executing the program.

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

[0130] Furthermore, the present invention provides a computer program product including computer instructions, which, when executed by a processor, enable the steps of the vehicle lane change assistance method described herein.

[0131] In particular, the process of the embodiment described above with reference to the flowchart in the figure may be implemented as a computer software program. For example, the embodiment disclosed in the present specification includes a computer program product which includes a computer program contained in a computer-readable medium which includes program code for performing the methods shown in each flowchart in the figure, and a processor performs the method of the present application by executing the computer program.

[0132] Furthermore, the computer-readable media described herein may be computer-readable signal media, computer-readable storage media, or any combination thereof. Computer-readable storage media may be, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, computer 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 devices, magnetic storage devices, or any suitable combination thereof.

[0133] In this application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device. In this application, a computer-readable signaling medium may propagate in the baseband or as part of a carrier wave and may contain data signals that include computer-readable program code. Such propagated data signals may take various forms and may include, but are not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signaling medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program that is used by or in combination with an instruction execution system, apparatus, or device. The program code contained in the computer-readable medium may be transmitted by any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, or any suitable combination thereof.

[0134] The computer program code for performing the operations of this invention may be written in one or more programming languages ​​or a combination thereof, and the programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, and also include 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, run as a standalone software package, run partly on the user's computer and partly on a remote computer, or run entirely on a remote computer or server. When a remote computer is involved, the remote computer may be connected to the user's computer or to an external computer by any type of network, such as a local area network (LAN) or wide area network (WAN) (for example, connected via the Internet using an Internet service provider).

[0135] The flowcharts and block diagrams in the figures exemplify the system architectures, functions, and operations that can be realized by the systems, methods, and computer program products of each embodiment of the present application. Each block in a flowchart or block diagram may represent a module, program segment, or part of code, which contains one or more executable instructions for realizing a given logical function. In some alternative embodiments, the functions described in a block may occur in a different order than shown in the drawings. For example, two sequentially shown blocks may actually be executed substantially in parallel by a given function, or they may be executed in reverse order. Furthermore, each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, may be realized by a dedicated hardware system for performing a given function or operation, or by a combination of dedicated hardware and computer instructions.

[0136] The units or modules according to the embodiments of this application may be implemented by software or by hardware. The units or modules may be provided within a processor, and may be described as a processor including, for example, a first acquisition module, a second acquisition module, a decision module, a presentation module, etc. The names of these units or modules do not necessarily constitute a limitation on the units or modules themselves.

[0137] All documents referenced herein are incorporated by reference in the same manner that each document is incorporated by reference as a whole herein.

[0138] Furthermore, those skilled in the art will understand that after reading the above description of the present invention, they may make various changes or modifications to the present invention, and that these equivalent forms also fall within the scope of protection of the present invention.

Claims

1. A step of obtaining the first vehicle speed and first acceleration of a vehicle waiting to change lanes, and the second vehicle speed and second acceleration of a target vehicle in the target lane, A step of determining a first travel distance when the lane change of the vehicle waiting to change lanes is expected to be completed, based on the first vehicle speed and the first acceleration, A step of determining the second travel distance of the target vehicle when the lane change of the vehicle waiting to change lanes is expected to be completed, based on the second vehicle speed and the second acceleration, A step of determining the safety status of the lane change corresponding to the current lane change behavior of the vehicle waiting to change lanes, based on the first mileage and the second mileage; A step of dynamically presenting the safety status of the determined lane change, A method for assisting vehicle lane changes, characterized by including the following:

2. The step of dynamically presenting the safety status of the determined lane change is, The vehicle lane change assistance method according to claim 1, characterized in that the vehicle's display device includes a step of dynamically presenting the safety level of the safety status of the lane change.

3. The step of dynamically presenting the safety level of the determined lane change is: The vehicle lane change assistance method according to claim 2, characterized in that when the safety level of the lane change changes, the instruction mark is controlled to change from a first lane change safety level determined at the previous time to a second lane change safety level determined at the current time.

4. The safety level of the first lane change and the safety level of the second lane change are safety levels of lane changes with different degrees of danger, and the step of controlling the indicator mark to change from the safety level of the lane change determined at the previous time to the safety level of the lane change determined at the current time is, The vehicle lane change assistance method according to claim 3, further comprising the step of controlling the instruction mark to move from a first instruction area corresponding to the safety level of the first lane change to a second instruction area corresponding to the safety level of the second lane change.

5. The safety level of the first lane change and the safety level of the second lane change are safety levels of lane changes with the same degree of danger, and the step of controlling the indicator mark to change from the safety level of the lane change determined at the previous time to the safety level of the lane change determined at the current time is, The vehicle lane change assistance method according to claim 3, further comprising the step of controlling the indicator mark to move from a first indicator position corresponding to the safety level of the first lane change to a second indicator position corresponding to the safety level of the second lane change.

6. The vehicle lane change assistance method according to claim 5, characterized in that the distance between the first indicated position and the second indicated 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.

7. The step of determining the safety level of the lane change safety situation corresponding to the current lane change behavior of the vehicle waiting to change lanes, based on the first and second mileage, The steps include obtaining the initial distance between the vehicle waiting to change lanes and the target vehicle, A step of determining the predicted distance between the vehicle waiting to change lanes and the target vehicle from the first mileage, the second mileage, and the initial distance, The method according to claim 1, comprising the step of determining a lane change safety level corresponding to the current lane change behavior of the vehicle waiting to change lanes, based on the predicted distance.

8. The step of determining the safety level of a lane change corresponding to the vehicle waiting to change lanes, based on the predicted distance, The method according to 7, further comprising the step of determining a lane change safety level corresponding to the current lane change behavior of a vehicle waiting to change lanes, based on the predicted distance and distance thresholds corresponding to safety levels of lane changes corresponding to different levels of risk.

9. The steps include: collecting image information of the target vehicle on the target lane using an image acquisition device; The method according to claim 1, further comprising the step of determining a second vehicle speed and a second acceleration of the target vehicle based on image information of the target vehicle.

10. A step of collecting distance information of the target vehicle on the target lane using a radar measuring device, The method according to claim 1, further comprising the step of determining a second vehicle speed and a second acceleration of the target vehicle based on distance information of the target vehicle.

11. The method according to claim 1, further comprising the step of presenting the second acceleration and / or the trend of change of the second acceleration of the target vehicle in the display device of the vehicle waiting to change lanes.

12. A determination module that acquires the first vehicle speed and first acceleration of a vehicle waiting to change lanes, and the second vehicle speed and second acceleration of a target vehicle on the target lane, determines a first travel distance from the first vehicle speed and first acceleration when the vehicle waiting to change lanes is expected to complete its lane change, determines a second travel distance of the target vehicle from the second vehicle speed and second acceleration when the vehicle waiting to change lanes is expected to complete its lane change, and determines the safety status of the lane change corresponding to the current lane change behavior of the vehicle waiting to change lanes based on the first travel distance and the second travel distance, A presentation module that dynamically displays the safety status of the determined lane change, A vehicle lane change assist device characterized by including the following.

13. A computer device comprising 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 method according to any one of claims 1 to 11.

14. A computer-readable storage medium in which a computer program is stored, wherein the steps of the method according to any one of claims 1 to 11 are realized when the program is executed by a processor.

15. A computer program comprising a computer instruction, wherein a step of the method according to any one of claims 1 to 11 is realized when the computer instruction is executed by a processor.

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