The invention provides a vehicle lane changing early warning method and device. The method comprises the following steps that a vehicle coordinate system is established; setting a lane changing early warning area based on the vehicle coordinate system and four side boundaries of the vehicle, and determining a virtual early warning lane width; obtaining an own vehicle trajectory curve according to the driving parameters of the own vehicle, calculating the transverse distance between the target vehicle and the own vehicle, and judging whether the target vehicle enters the virtual early warning lane or not based on the transverse distance; if the vehicle enters, calculating a lane changing spacing distance, obtaining a virtual lane changing movement change rate, calculating a longitudinal distance between the target vehicle and the vehicle, and obtaining virtual collision time according to a longitudinal relative speed; obtaining a virtual lane changing movement distance according to the virtual lane changing movement change rate and the virtual collision time; obtaining a target prediction position according to the virtual lane changing moving distance and the lane changing spacing distance; and calculating the cumulative time of the target prediction position in the lane change early warning area, and if the cumulative time exceeds an early warning time threshold, taking the target vehicle as a lane change early warning effective target.

    本发明提供一种车辆变道预警方法和装置,该方法包括以下步骤:建立车辆坐标系;基于车辆坐标系和自车的四侧边界设置变道预警区域,并确定虚拟预警车道宽度;根据自车的行驶参数得到自车轨迹曲线,并计算目标车与自车的横向距离,并基于横向距离判断目标车是否进入虚拟预警车道;如进入,则计算变道间隔距离,并得到虚拟变道移动变化率,计算目标车与自车的纵向距离,并根据纵向相对速度得到虚拟碰撞时间;根据虚拟变道移动变化率与虚拟碰撞时间得到虚拟变道移动距离;根据虚拟变道移动距离和变道间隔距离得到目标预测位置;计算目标预测位置处于变道预警区域变道预警区域的累积时间,如果超过预警时间阈值,则将目标车作为变道预警有效目标。


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    Title :

    Vehicle lane changing early warning method and device and computer readable medium


    Additional title:

    一种车辆变道预警方法、装置和计算机可读介质


    Contributors:
    CUI TING (author)

    Publication date :

    2022-05-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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