CN111409649B - Early warning method and device for lane change of vehicle, computer equipment and storage medium - Google Patents

Abstract

The application relates to a vehicle lane change early warning method and device, computer equipment and storage medium. The method comprises the following steps: obtaining the deviation information of the current vehicle from the original lane and obtaining the limiting condition of the target lane; and if the deviation information is not matched with the limiting condition, outputting a warning instruction, wherein the warning instruction is used for controlling a warning device to give a warning. When the current vehicle tries to change to the target lane, if the deviation information of the current vehicle is not matched with the limiting condition of the target lane, controlling the warning device to send out a violation warning. Therefore, when the current vehicle changes the lane, the purpose of assisting the current vehicle in changing the lane is achieved, and a driver does not need to manually watch traffic signs on the lane or judge whether the lane can be changed according to personal habits, so that the lane changing accuracy of the vehicle is improved, and the personal safety of the user is guaranteed.

Description

Early warning method and device for vehicle lane change, computer equipment and storage medium

Technical field

The present application relates to the field of traffic technology, and in particular to an early warning method and device for vehicle lane change, computer equipment and computer-readable storage media.

Background technique

With the development of society, vehicles are becoming more and more popular in the field of transportation technology. In order to improve the driving safety of vehicles, roads are usually divided into different types of lanes such as fast lanes, slow lanes, emergency lanes, etc., so that drivers can drive vehicles on the road safely and regularly.

In traditional technology, when a driver chooses to change lanes while the vehicle is driving, he usually judges whether the lane change is possible by manually viewing the traffic signs on the road or based on personal habits. However, the driver's judgment results are often inaccurate, causing the driver to easily commit violations during driving.

Therefore, using the above traditional method to change lanes has the problem of low accuracy.

Contents of the invention

Based on this, it is necessary to address the above technical problem of low lane changing accuracy and provide a vehicle lane changing early warning method and device, computer equipment and computer readable storage media that can improve lane changing accuracy.

An early warning method for vehicle lane change, the method includes:

Obtain the deviation information of the current vehicle from the original lane and obtain the restrictions of the target lane;

If the deviation information does not match the restriction condition, a warning instruction is output, and the warning instruction is used to control the warning device to issue a warning.

In one embodiment, the deviation information includes attribute information, and the restriction conditions include lane type;

If the deviation information does not match the restriction condition, a warning instruction is output. The warning instruction is used to control the warning device to issue a warning, including:

Obtain the attribute information in the deviation information and obtain the lane type in the restriction conditions;

If the attribute information does not match the lane type, the warning instruction is output.

In one embodiment, the deviation information includes current vehicle speed, and the restriction condition includes speed limit information;

If the deviation information does not match the restriction condition, a warning instruction is output. The warning instruction is used to control the warning device to issue a warning, and further includes:

Obtain the current vehicle speed in the deviation information, and obtain the speed limit information in the restriction conditions;

If the current vehicle speed does not match the speed limit information, the warning instruction is output.

In one embodiment, if the current vehicle speed does not match the speed limit information, the step of outputting the warning instruction includes:

Obtain the speed limit in the speed limit information, where the speed limit includes the maximum speed limit;

If the current vehicle speed is greater than the maximum speed limit, the warning instruction is output.

In one embodiment, the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information further includes:

Obtain the speed limit in the speed limit information, where the speed limit includes the minimum speed limit;

If the current vehicle speed is less than the minimum speed limit, the warning instruction is output.

In one embodiment, the method further includes:

Obtain the first time it takes for the current vehicle to reach the position of the speed measuring device from its current position;

Obtain the second time required for the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane;

Calculate a third time based on the first time and the second time;

If the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time, a return instruction is output. The return instruction is used to control the steering system to guide the current vehicle to return to the destination lane. Original driveway.

In one embodiment, the method further includes:

Obtain the location information of the current vehicle;

The original lane where the current vehicle is located and the adjacent lanes adjacent to the original lane are determined based on the location information, and the adjacent lanes include the target lane.

In one embodiment, before the steps of obtaining the deviation information of the current vehicle from the original lane and obtaining the restriction conditions of the target lane, the steps include:

Obtain the status information of the current vehicle;

If the status information of the current vehicle meets the preset conditions, it is determined that the current vehicle attempts to change from the original lane to the target lane.

In one embodiment, if the status information of the current vehicle meets a preset condition, the step of determining that the current vehicle attempts to change from the original lane to the target lane includes:

Obtain the lane line between the original lane where the current vehicle is located and the target lane;

If the preset portion of the current vehicle crosses the lane line, it is determined that the current vehicle attempts to change from the original lane to the target lane.

In one embodiment, if the status information of the current vehicle meets a preset condition, the step of determining that the current vehicle attempts to change from the original lane to the target lane further includes:

Obtain the steering angle at which the steering wheel of the current vehicle turns to the target lane;

If the steering angle exceeds the preset threshold, it is determined that the current vehicle attempts to change from the original lane to the target lane.

An early warning device for vehicle lane change, the device includes:

The information acquisition module is used to obtain the deviation information of the current vehicle deviating from the original lane and the restriction conditions of the target lane;

A warning output module is configured to output a warning instruction if the deviation information does not match the restriction condition, and the warning instruction is used to control the warning device to issue a warning.

A computer device includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, it implements the steps of any of the above methods.

A computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by a processor, the steps of any one of the above methods are implemented.

The above-mentioned early warning method and device for vehicle lane change, computer equipment and computer-readable storage medium, when the current vehicle attempts to change to the target lane, if the deviation information of the current vehicle does not match the restriction conditions of the target lane, the warning device is controlled Issue a violation warning. In this way, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and the driver does not need to manually watch the traffic signs on the road or judge whether the lane change can be based on personal habits, so the vehicle change speed is improved. The accuracy of the information and the personal safety of the users are ensured.

Description of the drawings

Figure 1 is an application environment diagram of the early warning method for vehicle lane change in one embodiment;

Figure 2 is a schematic flowchart of an early warning method for vehicle lane change in one embodiment;

Figure 3 is a schematic flowchart of the steps of comparing the attribute information of the current vehicle with the lane type of the target lane in one embodiment;

Figure 4 is a schematic flowchart of the steps of comparing the current speed of the current vehicle with the speed limit information of the target lane in one embodiment;

Figure 5 is a schematic flow chart of a vehicle lane change early warning method in another embodiment;

Figure 6 is a schematic flowchart of the steps of determining the original lane and adjacent lanes where the current vehicle is located in one embodiment;

Figure 7 is a schematic flowchart of the steps of determining that the current vehicle attempts to change from the original lane to the target lane in one embodiment;

Figure 8 is a structural block diagram of an early warning device for vehicle lane change in one embodiment;

Figure 9 is an internal structure diagram of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

The execution subject of the early warning method for vehicle lane change provided by the embodiments of the present application may be the early warning device for vehicle lane change involved in the following embodiments. Optionally, the early warning device can be implemented by software, hardware, or a combination of software and hardware. Optionally, the early warning device may be a part of the device integrated in the electronic device, or may be an independent electronic device. It should be noted that the execution subject of the early warning method for vehicle lane change provided in this application is not limited, as long as the early warning purpose can be achieved.

In one embodiment, the early warning method for vehicle lane change provided by this application can be applied to the application environment as shown in Figure 1. The application environment includes a vehicle lane change warning device 100 , an image acquisition device 200 and a warning device 300 . Alternatively, the early warning device 100, the image acquisition device 200 and the warning device 300 may be installed in the current vehicle. Of course, the early warning device 100, the image acquisition device 200 and the warning device 300 can also be installed at other locations outside the vehicle, as long as the functions of each device can be realized.

Optionally, the early warning device 100 can also be set up in a cloud server (Online server). The early warning device 100 can be a variety of personal computers, laptops, smart phones, tablets, portable wearable devices, or a device in a vehicle, such as a central control device, an auxiliary driving device, a vehicle or a navigation device.

Specifically, when the current vehicle is driving on a certain road, the image acquisition device 200 is used to collect image information during the driving process of the current vehicle. Wherein, the image information may include lane information, and the lane information includes restriction conditions of each lane. When the early warning device 100 determines that the current vehicle attempts to change from the original lane to the target lane, the early warning device 100 is used to obtain the deviation information of the current vehicle from the original lane in real time, and obtain the restriction conditions of the target lane through the image acquisition device 200 . If the deviation information does not match the restriction conditions, the early warning device 100 issues a warning instruction to the warning device 300, causing the warning device 300 to issue a warning.

In one embodiment, as shown in FIG. 2 , an early warning method for vehicle lane change is provided. This method is explained by taking the method applied to the early warning device 100 in FIG. 1 as an example. Wherein, the early warning device 100 is installed on the current vehicle. The method specifically includes the following steps:

S202: Obtain the deviation information of the current vehicle from the original lane and obtain the restriction conditions of the target lane.

Among them, the original lane refers to the lane where the current vehicle is before the current vehicle changes lanes. The target lane refers to the lane that the current vehicle is trying to change. Optionally, the target lane is adjacent to the original lane. Deviation information refers to information generated during the lane change process of the current vehicle, which may include attribute information of the current vehicle and speed information of the current vehicle. Restrictions include access regulations for target lanes. The attribute information of the current vehicle may include vehicle type, license plate number, vehicle color and other characteristic information characterizing the current vehicle.

Specifically, the image acquisition device collects the restriction conditions of the target lane in real time and stores them. When the early warning device determines that the current vehicle is trying to change from the original lane to the target lane, the early warning device obtains the deviation information of the current vehicle from the original lane in real time, and obtains the restriction conditions of the target lane from the image acquisition device.

Optionally, the conditions for the current vehicle trying to change to the target lane can be set in advance, so that when the current vehicle is actually driving, once the actual driving state meets the preset conditions, the early warning device can determine that the current vehicle is trying to change from the original lane to the target lane. Lane. For example, the above conditions can be set through the steering angle of the steering wheel.

S204: If the deviation information does not match the restriction condition, a warning instruction is output, and the warning instruction is used to control the warning device to issue a warning.

Specifically, the early warning device matches the deviation information with the corresponding restriction conditions. If the early warning device determines that the deviation information does not match the corresponding restriction conditions, that is, when the current vehicle changes to the target lane in its current state, it violates the traffic regulations of the target lane, the early warning device will issue a warning instruction to the warning device, thereby controlling the warning device to issue Violation warning.

Further, violation warning methods include but are not limited to visual warning methods, auditory warning methods, or tactile warning methods.

According to the above vehicle lane change early warning method, when the current vehicle attempts to change to the target lane, if the deviation information of the current vehicle does not match the restriction conditions of the target lane, the control warning device issues a violation warning. In this way, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and the driver does not need to manually watch the traffic signs on the road or judge whether the lane change can be based on personal habits, so the vehicle change speed is improved. The accuracy of the information and the personal safety of the users are ensured.

As a specific implementation, in current vehicles, warning methods include visual warning methods, auditory warning methods, and tactile warning methods, using a combination of multiple warning methods, such as outputting warning images, issuing warning sounds, or triggering vibrations, etc. , which can ensure the timeliness of warning information and assist users to respond quickly so that the current vehicle will not violate traffic regulations.

Further, visual warning methods may include adding speed limit information on the vehicle display screen. Auditory warning methods can include voice broadcast of speed limit information, such as "Be careful! The speed limit in the right lane is 100 km/h! The current speed is 115 km/h." Tactile warning methods may include generating vibration signals to the user.

In one embodiment, please refer to FIG. 3 , which involves a specific process of issuing a violation warning if the attribute information of the current vehicle does not match the lane type of the target lane. Specifically, S204 includes the following steps:

S2042, obtain the attribute information in the deviation information and obtain the lane type in the restriction conditions;

S2044: If the attribute information does not match the lane type, output the warning instruction.

The deviation information of the current vehicle includes attribute information of the current vehicle, and the attribute information of the current vehicle may include the current vehicle type, such as cars, buses, trucks, buses, etc. The restriction conditions of the target lane include the lane type of the target lane, such as dedicated lanes, emergency lanes, etc.

Specifically, the early warning device matches the attribute information of the current vehicle with the lane type of the target lane. If the attribute information of the current vehicle does not match the lane type of the target lane, the early warning device issues a warning instruction to the warning device, thereby controlling the warning device to issue a violation warning.

A simple example is given here to illustrate the above embodiment. Dedicated lanes can include dedicated bus lanes. Generally, there are numbers written on the dedicated bus lanes indicating bus-only hours, and other vehicles are not allowed to travel. If the current vehicle is a car and the car attempts to change to a dedicated bus lane during the dedicated bus time, the car does not meet the conditions for driving in the dedicated bus lane during this time, that is, the attribute information of the current vehicle is consistent with the lane of the target lane. If the types do not match, the early warning device sends a warning instruction to the warning device, thereby controlling the warning device to issue a violation warning.

In another embodiment, please refer to FIG. 4 , which involves a specific process of issuing a violation warning if the speed information of the current vehicle does not match the speed limit information of the target lane. Specifically, S204 also includes the following steps:

S2041, obtain the current vehicle speed in the deviation information and obtain the speed limit information in the restriction conditions;

S2043: If the current vehicle speed does not match the speed limit information, output the warning instruction.

The deviation information of the current vehicle includes the vehicle speed information of the current vehicle, and the vehicle speed information includes the current vehicle speed of the current vehicle. The restriction conditions of the target lane include the speed limit information of the target lane, such as the maximum speed limit and the minimum speed limit.

Specifically, the early warning device matches the current speed of the current vehicle with the speed limit information of the target lane. If the current speed of the current vehicle does not match the speed limit information of the target lane, the early warning device sends a warning instruction to the warning device, thereby controlling the warning device to issue a violation warning.

Optionally, the early warning device can directly obtain the current speed of the current vehicle, or indirectly obtain the current speed of the current vehicle through the vehicle speed measurement device, which is not limited here. The current speed of the current vehicle can be displayed through the speedometer for easy viewing by the user.

Further, the speed limit information of the target lane can be obtained through an image acquisition device. Optionally, the image acquisition device is a front-facing camera. The early warning device obtains the speed limit information of the target lane from the image acquisition device. The speed limit information may include speed limits on different road sections. Furthermore, the early warning device will store the speed limit information for subsequent recall.

According to the above vehicle lane change early warning method, if the current vehicle attempts to change to the target lane and it is determined that the current speed of the current vehicle does not meet the speed limit condition of the target lane, the control warning device will issue an overspeed warning. In this way, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and the driver does not need to manually watch the traffic signs on the road or judge whether the lane change can be based on personal habits, so this method can Improve the accuracy of vehicle lane changing and protect users' personal safety.

As an implementation manner, taking the speed limit information as the maximum speed limit as an example, S2043 includes the following steps:

Obtain the speed limit in the speed limit information, where the speed limit includes the maximum speed limit;

If the current vehicle speed is greater than the maximum speed limit, the warning instruction is output.

Specifically, the warning device compares the current vehicle speed with the maximum speed limit. If the early warning device determines that the current speed of the current vehicle is greater than the maximum speed limit, the early warning device sends an early warning control signal to the warning device, thereby controlling the warning device to issue an overspeed warning.

As another implementation manner, taking the speed limit information as the minimum speed limit as an example, S2043 also includes the following steps:

Obtain the speed limit in the speed limit information, where the speed limit includes the minimum speed limit;

If the current vehicle speed is less than the minimum speed limit, the warning instruction is output.

Specifically, the warning device compares the current vehicle speed with the minimum speed limit. If the early warning device determines that the current speed of the current vehicle is less than the minimum speed limit, the early warning device sends an early warning control signal to the warning device, thereby controlling the warning device to issue a violation warning.

In one embodiment, the automatic steering function is triggered to further ensure that the current vehicle will not violate traffic regulations. Refer to Figure 5. Specifically, the method also includes the following steps:

S302, obtain the first time it takes for the current vehicle to reach the position of the speed measuring device from the current position;

S304, obtain the second time required for the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane;

S306: Calculate a third time based on the first time and the second time;

S308, if the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time, a return instruction is output. The return instruction is used to control the steering system to guide the current vehicle. Return to the original lane.

Specifically, in S302, the speed measuring device refers to the speed measuring device in front of the current vehicle and closest to the current vehicle. Speed measuring devices may include surveillance cameras.

In S304, during the speed adjustment process of the current vehicle, the acceleration involved refers to an acceleration value during normal driving of the current vehicle. Optionally, this acceleration can be preset and saved in the current vehicle. For example, the acceleration can be set to 2m/s ² or -2m/s ² .

In order to explain this embodiment more clearly, assume that the first time is T ₁ , the distance between the current position of the current vehicle and the position of the speed measuring device is X ₁ , and the current speed of the current vehicle is V ₁ , then T ₁ =X ₁ /V ₁ .

Assume the second time is T ₂ , the speed limit of the target lane is V ₂ , and the preset acceleration of the current vehicle is a, then T ₂ =(V ₁ -V ₂ )/a.

Assume that the third time is T ₃ , then T ₃ =T ₁ +T ₂ .

Therefore, if the current vehicle is within _T3 and the early warning device determines that the current vehicle is trying to change to the target lane, and determines that the current speed of the current vehicle does not meet the speed limit condition, it will send a control steering signal to the control steering system, thereby controlling The steering system guides the current vehicle to return to the original lane according to the control steering signal.

More specifically, guiding the current vehicle to return to the original lane can be a process that occurs automatically for the current vehicle. The process includes: the early warning device sends a control steering signal to the steering system through the controller, for example, the control steering signal is to turn 30 degrees to the left. , and then control the steering system to use the steering motor to output power to control the current vehicle's steering wheel to turn 30 degrees to the left.

In this embodiment, by setting a third time, it not only assists the current vehicle to change back to the original lane, but also issues a speeding warning to remind the user, which makes the early warning measures more perfect, further ensures that the current vehicle will not violate traffic regulations, and solves the problem of users being in trouble due to speeding. bring troubles and ensure the safety of users.

In one embodiment, it involves how to determine the original lane information of the current vehicle. Refer to Figure 6. Specifically, the method also includes the following steps:

S402, obtain the location information of the current vehicle;

S404: Determine the original lane where the current vehicle is located and adjacent lanes adjacent to the original lane according to the location information. The adjacent lanes include the target lane.

Specifically, the current vehicle's position information is obtained through one or a combination of a front camera, an inertial measurement unit (IMU), and a global satellite navigation system (Global Navigation Satellite System, GNSS), and This location information is sent to the early warning device. The early warning device determines the original lane where the current vehicle is located based on the position information of the current vehicle, and determines the adjacent lane adjacent to the original lane. By obtaining the location information of the current vehicle, it is further accurately determined whether the current vehicle changes lanes.

In one embodiment, a process is involved in determining how the current vehicle is attempting to change to a target lane. Please refer to Figure 7, where the following steps are included before step S202:

S2012, obtain the status information of the current vehicle;

S2014: If the status information of the current vehicle meets the preset conditions, it is determined that the current vehicle attempts to change from the original lane to the target lane.

Specifically, the status information refers to the status information that occurs when the current vehicle is driving in the original lane. For example, the status information can be that the current vehicle is pressing the lane line, or the steering wheel has a large steering angle, etc. The early warning device obtains the status information of the current vehicle in real time. Once the status information meets the corresponding preset conditions, it is determined that the current vehicle is trying to change from the original lane to the target lane. By collecting the status information of the current vehicle and comparing the status information, it is possible to accurately determine whether the current vehicle has changed lanes.

Optionally, as an implementation, this implementation is a further explanation of how to determine that the current vehicle attempts to change from the original lane to the target lane. Specifically, step S2014 includes the following steps:

Obtain the lane line between the original lane where the current vehicle is located and the target lane;

If the preset portion of the current vehicle crosses the lane line, it is determined that the current vehicle attempts to change from the original lane to the target lane.

Specifically, the above-mentioned preset condition may be that a preset part of the current vehicle crosses the lane line, and the preset part of the current vehicle may be a body edge or a wheel. For example, when the body edge or wheels of the current vehicle cross the lane line, the early warning device determines that the current vehicle attempts to change to the target lane. By monitoring whether the current vehicle crosses the lane line, it can be accurately determined whether the current vehicle changes lanes.

Optionally, as another implementation, this implementation is also a further explanation of how to determine that the current vehicle attempts to change from the original lane to the target lane. Specifically, step S2014 also includes the following steps:

Obtain the steering angle at which the steering wheel of the current vehicle turns to the target lane;

If the steering angle exceeds the preset threshold, it is determined that the current vehicle attempts to change from the original lane to the target lane.

Specifically, the above-mentioned preset condition may be a preset threshold corresponding to the steering angle of the current vehicle steering wheel. For example, when the angle detection device detects that the steering angle of the current vehicle's steering wheel exceeds the preset threshold, the early warning device determines that the current vehicle attempts to change to the target lane. By detecting the steering angle of the current vehicle's steering wheel, it can be accurately determined whether the current vehicle changes lanes.

It should be understood that although the various steps in the flowcharts of Figures 2-7 are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in Figures 2-7 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. These sub-steps or stages The order of execution is not necessarily sequential, but may be performed in turn or alternately with other steps or sub-steps of other steps or at least part of the stages.

In one embodiment, as shown in Figure 8, a vehicle lane change early warning device 100 is provided, including: an acquisition module 1002 and an output module 1004, wherein:

The information acquisition module 1002 is used to obtain the deviation information of the current vehicle from the original lane, and obtain the restriction conditions of the target lane.

The warning output module 1004 is configured to output a warning instruction if the deviation information does not match the restriction condition, and the warning instruction is used to control the warning device to issue a warning.

The above-mentioned early warning device for vehicle lane change, when the current vehicle attempts to change to the target lane, if the deviation information of the current vehicle does not match the restriction conditions of the target lane, the control warning device issues a violation warning. In this way, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and the driver does not need to manually watch the traffic signs on the road or judge whether the lane change can be based on personal habits, so the vehicle change speed is improved. The accuracy of the information and the personal safety of the users are ensured.

In one embodiment, the warning output module 1004 is also used to obtain the attribute information of the current vehicle and obtain the lane type in the restriction condition; if the attribute information does not match the lane type, output the Describe warning instructions.

In one embodiment, the warning output module 1004 is also used to obtain the current vehicle speed of the current vehicle and obtain the speed limit information in the restriction conditions; if the current vehicle speed does not match the speed limit information, then Output the warning command.

In one embodiment, the warning output module 1004 is also used to obtain the speed limit in the speed limit information, where the speed limit includes the maximum speed limit; if the current vehicle speed is greater than the maximum speed limit, output the Warning instructions.

In one embodiment, the warning output module 1004 is also used to obtain the speed limit in the speed limit information, where the speed limit includes the minimum speed limit; if the current vehicle speed is less than the minimum speed limit, output the Warning instructions.

In one embodiment, the device further includes:

The first time acquisition module (not shown) is used to acquire the first time it takes for the current vehicle to reach the speed measuring device from the current position.

A second time acquisition module (not shown) is used to acquire the second time required for the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane.

A third time calculation module (not shown) is used to calculate a third time based on the first time and the second time.

A return instruction output module (not shown), configured to output a return instruction if the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time. The return instruction Used to control the steering system to guide the current vehicle to return to the original lane.

In one embodiment, the device further includes:

A location determination module (not shown) is used to obtain the location information of the current vehicle.

A lane recognition module (not shown), configured to determine the original lane where the current vehicle is located based on the location information, and adjacent lanes adjacent to the original lane, where the adjacent lanes include the target lane .

In one embodiment, the information acquisition module 1002 is also used to obtain the status information of the current vehicle; if the status information of the current vehicle satisfies the preset conditions, it is determined that the current vehicle attempts to change from the original lane to The target lane.

In one embodiment, the information acquisition module 1002 is also used to obtain the lane line between the original lane where the current vehicle is located and the target lane; if the preset part of the current vehicle crosses the lane line, it is determined that the current vehicle attempts to change from the original lane to the target lane.

In one embodiment, the information acquisition module 1002 is also configured to obtain the steering angle at which the steering wheel of the current vehicle turns to the target lane; if the steering angle exceeds a preset threshold, determine that the current vehicle attempts to turn from The original lane is changed to the target lane.

For specific limitations on the early warning device for vehicle lane change, please refer to the limitations on the early warning method for vehicle lane change mentioned above, which will not be described again here. Each module in the above-mentioned vehicle lane change early warning device can be implemented in whole or in part by software, hardware, and combinations thereof. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 9 . The computer equipment includes a processor, memory, network interface, display screen and input device connected by a system bus. Wherein, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage medium stores operating systems and computer programs. This internal memory provides an environment for the execution of operating systems and computer programs in non-volatile storage media. The network interface of the computer device is used to communicate with external terminals through a network connection. The computer program is executed by a processor to implement an early warning method for vehicle lane change. The display screen of the computer device may be a liquid crystal display or an electronic ink display. The input device of the computer device may be a touch layer covered on the display screen, or may be a button, trackball or touch pad provided on the computer device shell. , it can also be an external keyboard, trackpad or mouse, etc.

Those skilled in the art can understand that the structure shown in Figure 9 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Specific computer equipment can May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.

In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

Obtain the deviation information of the current vehicle from the original lane and obtain the restrictions of the target lane;

If the deviation information does not match the restriction condition, a warning instruction is output, and the warning instruction is used to control the warning device to issue a warning.

In one embodiment, when the processor executes the computer program, the processor also implements the following steps: obtaining attribute information of the current vehicle and obtaining the lane type in the restriction condition; if the attribute information does not match the lane type, Then the warning instruction is output.

In one embodiment, when the processor executes the computer program, the processor also implements the following steps: obtaining the current vehicle speed of the current vehicle, and obtaining the speed limit information in the restriction conditions; if the current vehicle speed is different from the speed limit information, If matched, the warning instruction is output.

In one embodiment, a computer-readable storage medium is provided with a computer program stored thereon. When the computer program is executed by a processor, the following steps are implemented:

Obtain the deviation information of the current vehicle from the original lane and obtain the restrictions of the target lane;

If the deviation information does not match the restriction condition, a warning instruction is output, and the warning instruction is used to control the warning device to issue a warning.

In one embodiment, when the computer program is executed by the processor, it also implements the following steps: obtaining attribute information of the current vehicle and obtaining the lane type in the restriction condition; if the attribute information does not match the lane type , then the warning instruction is output.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the current speed of the current vehicle and obtaining the speed limit information in the restriction conditions; if the current vehicle speed and the speed limit information If there is no match, the warning instruction will be output.

According to the above computer device and computer-readable storage medium, when the current vehicle attempts to change to the target lane, if the deviation information of the current vehicle does not match the restriction conditions of the target lane, the control warning device issues a violation warning. In this way, when the current vehicle changes lanes, the purpose of assisting the current vehicle to change lanes is achieved, and the driver does not need to manually watch the traffic signs on the road or judge whether the lane change can be based on personal habits, so the vehicle change speed is improved. The accuracy of the information and the personal safety of the users are ensured.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Synchlink DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims (11)

1. An early warning method for vehicle lane change, characterized in that the method includes: Obtain the deviation information of the current vehicle from the original lane in real time, and obtain the restriction conditions of the target lane through the image acquisition device; If the deviation information does not match the restriction condition, a warning instruction is output, and the warning instruction is used to control the warning device to issue a warning, Wherein, the deviation information includes the current vehicle speed, and the restriction condition includes speed limit information; If the deviation information does not match the restriction condition, a warning instruction is output. The warning instruction is used to control the warning device to issue a warning, and further includes: Obtain the current vehicle speed in the deviation information, and obtain the speed limit information in the restriction conditions; If the current vehicle speed does not match the speed limit information, the warning instruction is output, Wherein, the method also includes: Obtain the first time it takes for the current vehicle to reach the position of the speed measuring device from its current position; Obtain the second time required for the current vehicle to adjust from the current vehicle speed to the speed limit of the target lane; Calculate a third time based on the first time and the second time; If the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time, a return instruction is output. The return instruction is used to control the steering system to guide the current vehicle to return to the destination lane. Original driveway. 2. The method according to claim 1, characterized in that the deviation information includes attribute information, and the restriction conditions include lane types; If the deviation information does not match the restriction condition, a warning instruction is output. The warning instruction is used to control the warning device to issue a warning, including: Obtain the attribute information in the deviation information and obtain the lane type in the restriction conditions; If the attribute information does not match the lane type, the warning instruction is output. 3. The method of claim 1, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information includes: Obtain the speed limit in the speed limit information, where the speed limit includes the maximum speed limit; If the current vehicle speed is greater than the maximum speed limit, the warning instruction is output. 4. The method of claim 1, wherein the step of outputting the warning instruction if the current vehicle speed does not match the speed limit information further includes: Obtain the speed limit in the speed limit information, where the speed limit includes the minimum speed limit; If the current vehicle speed is less than the minimum speed limit, the warning instruction is output. 5. The method according to claim 1, characterized in that, the method further comprises: Obtain the location information of the current vehicle; The original lane where the current vehicle is located and the adjacent lanes adjacent to the original lane are determined based on the location information, and the adjacent lanes include the target lane. 6. The method according to claim 1, characterized in that, before the steps of obtaining the deviation information of the current vehicle deviating from the original lane and obtaining the restriction conditions of the target lane, the step includes: Obtain the status information of the current vehicle; If the status information of the current vehicle meets the preset conditions, it is determined that the current vehicle attempts to change from the original lane to the target lane. 7. The method according to claim 6, wherein the step of determining that the current vehicle attempts to change from the original lane to the target lane if the status information of the current vehicle satisfies a preset condition includes: : Obtain the lane line between the original lane where the current vehicle is located and the target lane; If the preset portion of the current vehicle crosses the lane line, it is determined that the current vehicle attempts to change from the original lane to the target lane. 8. The method according to claim 6, characterized in that if the status information of the current vehicle satisfies a preset condition, the step of determining that the current vehicle attempts to change from the original lane to the target lane further includes: include: Obtain the steering angle at which the steering wheel of the current vehicle turns to the target lane; If the steering angle exceeds the preset threshold, it is determined that the current vehicle attempts to change from the original lane to the target lane. 9. An early warning device for vehicle lane change, characterized in that the device includes: The information acquisition module is used to obtain the deviation information of the current vehicle from the original lane in real time, and obtain the restriction conditions of the target lane through the image acquisition device; A warning output module is used to output a warning instruction if the deviation information does not match the restriction condition, and the warning instruction is used to control the warning device to issue a warning, Among them, the warning output module is also used to: Obtain the current speed of the current vehicle and obtain the speed limit information in the restriction conditions; If the current vehicle speed does not match the speed limit information, the warning instruction is output, Wherein, the device also includes: The first time acquisition module is used to acquire the first time it takes for the current vehicle to arrive at the speed measuring device from the current position; A second time acquisition module, configured to acquire the second time required for the current vehicle to adjust from the current speed to the speed limit of the target lane; A third time calculation module, configured to calculate a third time based on the first time and the second time; A return instruction output module, configured to output a return instruction if the current vehicle determines that the current vehicle attempts to change from the original lane to the target lane within the third time, and the return instruction is used to control the steering system. Guide the current vehicle to return to the original lane. 10. A computer device, comprising a memory and a processor, the memory stores a computer program, characterized in that when the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented. . 11. A computer-readable storage medium with a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.