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CN-122009010-A - Method and system for generating light blanket for vehicle lane changing

CN122009010ACN 122009010 ACN122009010 ACN 122009010ACN-122009010-A

Abstract

The application discloses a method and a system for generating an optical blanket of a vehicle lane change, wherein the method comprises the steps of obtaining body posture data of a driver, determining a first vehicle side deflection rate and a second vehicle side deflection rate of the vehicle according to first lane line information of a lane where the vehicle is located currently, determining a running track and a running track curvature of the vehicle according to running state data of the vehicle, determining a target lane where the vehicle is to be driven into by the lane change according to the body posture data, the first vehicle side deflection rate, the second vehicle side deflection rate and the running track curvature, determining a plurality of target control points positioned on the target lane and the running track, generating an optical blanket track according to the plurality of target control points, and controlling a target car lamp to project on the ground according to the optical blanket track to form a curve optical blanket. According to the application, the running track and the lane changing intention of the vehicle can be represented by the light blanket when the vehicle starts to change lanes and does not invade the side lanes, so that the safety of night driving is improved.

Inventors

  • CAO ZHIYUE
  • ZHOU DIFEI

Assignees

  • 深圳市欧冶半导体有限公司

Dates

Publication Date
20260512
Application Date
20260416

Claims (10)

  1. 1. A method of generating an optical blanket for a lane change of a vehicle, the method comprising a processor for a vehicle control system, the vehicle control system further comprising a target lamp disposed in front of the vehicle, the processor being coupled to the target lamp, the method comprising: acquiring body posture data of a driver; Determining a first vehicle side deflection rate and a second vehicle side deflection rate of the vehicle according to first lane line information of a lane where the vehicle is located currently, wherein the first vehicle side deflection rate represents the rate of movement of the left side edge of the vehicle to a left lane line of the lane where the vehicle is located currently, and the second vehicle side deflection rate represents the rate of movement of the right side edge of the vehicle to a right lane line of the lane where the vehicle is located currently; Determining a running track and a running track curvature of the vehicle according to the running state data of the vehicle; Determining a target lane into which the vehicle is to be lane-changed according to the body posture data, the first vehicle side offset rate, the second vehicle side offset rate, and the running track curvature; Determining a plurality of target control points positioned on the target lane and the running track; And generating a light blanket track according to the plurality of target control points, and controlling the target car lamp to project on the ground according to the light blanket track to form a curved light blanket.
  2. 2. The method of claim 1, wherein the determining a plurality of target control points located on the target lane and the travel track comprises: determining a first light blanket guidance route within the target lane, the first light blanket guidance route including a lane centerline of the target lane; Determining a first control point and a second control point which are positioned on the running track, and a third control point and a fourth control point which are positioned on the first light blanket guiding route, wherein the first control point is positioned at the current position of the vehicle; And obtaining the target control points according to the first control point, the second control point, the third control point and the fourth control point.
  3. 3. The method of claim 2, wherein the determining a first control point, a second control point, and a third control point, a fourth control point, on the first light blanket guidance route, on the moving track comprises: Determining a first coordinate of the first control point according to the current position of the vehicle, wherein the first coordinate comprises a first horizontal coordinate and a first vertical coordinate, the axial direction corresponding to the vertical coordinate is a single lane extending direction, and the axial direction corresponding to the horizontal coordinate is parallel to a plane where a lane is located and perpendicular to the single lane extending direction; Determining a second ordinate of the second control point according to the first ordinate and a first preset distance, and determining a coordinate point corresponding to the second ordinate on the moving track as the second control point; determining a third ordinate of the third control point according to the first ordinate and a second preset distance, and determining a coordinate point corresponding to the third ordinate on the first light blanket guiding route as the third control point; And determining a fourth ordinate of the fourth control point according to the first ordinate and a third preset distance, and determining a coordinate point corresponding to the fourth ordinate on the first light blanket guiding route as the fourth control point, wherein the values of the first preset distance, the second preset distance and the third preset distance are sequentially increased.
  4. 4. A method according to claim 2 or 3, wherein prior to said determining the first light blanket guidance route within the target lane, the method comprises: Determining a left lane line and a right lane line of the target lane according to second lane line information of the target lane, wherein the lane line information comprises lane line positions, lane line confidence, lane line stability and lane line length; judging whether the left lane line and the right lane line of the target lane are in a complete available state or not according to the second lane line information Judging that a left lane line and/or a right lane line of the target lane are in a partial available state according to the second lane line information, wherein the partial available state represents that partial lane lines are short-term missing, and then supplementing the lane lines with partial missing according to lane line state data corresponding to the left lane line and/or the right lane line.
  5. 5. The method according to claim 4, wherein the method further comprises: Judging that the left lane line and the right lane line of the target lane are in an unavailable state according to the second lane line information, and determining a first control point, a second control point, a third control point and a fourth control point which are positioned on the running track; And obtaining the target control points according to the first control point, the second control point, the third control point and the fourth control point.
  6. 6. The method of claim 1, wherein the determining a target lane into which the vehicle is to be lane-changed based on the body pose data, the first and second vehicle side yaw rates, and the trajectory curvature comprises: Determining a first intention lane to be driven into by the lane change observed by the driver according to the body posture data; determining a second intended lane for the vehicle to be lane-changed to drive in according to the first vehicle side offset rate and the second vehicle side offset rate; determining a third intention lane into which the vehicle is to enter to be changed according to the curvature of the running track; if at least two lanes of the first intention lane, the second intention lane and the third intention lane are adjacent lanes on the same direction side of the lane where the vehicle is currently located, determining the adjacent lanes on the same direction side as a target lane into which the vehicle is to be driven, wherein the adjacent lanes on the same direction side are adjacent lanes on the left side or adjacent lanes on the right side; otherwise, determining the current lane of the vehicle as a target lane into which the vehicle is to be driven by the lane change.
  7. 7. The method of claim 6, wherein the determining a second intended lane for the vehicle to be lane-changed into based on the first and second vehicle side offset rates comprises: If the first vehicle side deviation rate is a negative value and the absolute value of the first vehicle side deviation rate is larger than a preset rate, determining a left adjacent lane of the lane where the vehicle is currently located as the second intention lane; If the second vehicle side deviation rate is a negative value and the absolute value of the second vehicle side deviation rate is greater than the preset rate, determining a right adjacent lane of the lane where the vehicle is currently located as the second intention lane; Otherwise, determining the lane where the vehicle is currently located as the second intention lane.
  8. 8. The method of claim 6, wherein the determining a first vehicle side offset rate and a second vehicle side offset rate of the vehicle based on first lane line information of a lane in which the vehicle is currently located comprises: determining a left lane line and a right lane line of a lane where the vehicle is positioned according to the first lane line information; determining a first position of a left side edge of the vehicle and a second position of a right side edge of the vehicle according to the current position of the vehicle and the vehicle parameter information; calculating a first distance between a first position of a left side edge of the vehicle and a left lane line of a lane where the vehicle is currently located at a current time node and a second distance between a second position of a right side edge of the vehicle and a right lane line of the lane where the vehicle is currently located, and Calculating a third distance between a first position of the left side edge of the vehicle and a left lane line of a lane where the vehicle is positioned at the current time node and a fourth distance between a second position of the right side edge of the vehicle and a right lane line of the lane where the vehicle is positioned at the current time node, wherein a preset interval duration is reserved between adjacent time nodes; Obtaining the first vehicle side yaw rate according to the ratio of the difference between the first distance and the third distance to the preset interval duration, and And obtaining the second vehicle side deflection rate according to the ratio of the difference value of the second distance and the fourth distance to the preset interval duration.
  9. 9. The method of claim 8, wherein the determining the trajectory and trajectory curvature of the vehicle from the vehicle's operational status data comprises: Determining a driving position, a steering angle rate and a steering wheel angle of the vehicle according to the running state data of the vehicle; Determining the running track of the vehicle according to the running position of the vehicle; Calculating a first running track curvature of the vehicle according to the steering angle rate of the vehicle, and calculating a second running track curvature of the vehicle according to the steering wheel angle of the vehicle; And carrying out weighted summation on the first running track curvature and the second running track curvature according to a first preset weight and a second preset weight to obtain the running track curvature of the vehicle.
  10. 10. A vehicle control system comprising a processor and a target lamp arranged in front of the vehicle, the processor being connected to the target lamp, wherein the system is adapted to perform the steps of the method according to any one of claims 1-9.

Description

Method and system for generating light blanket for vehicle lane changing Technical Field The application relates to the technical field of computers, in particular to a method and a system for generating an optical blanket for lane changing of a vehicle. Background In the night, particularly in high-risk road conditions like high speed at night, the driver sometimes does not use the turn signal lamp when changing lanes. The dangerous behavior not only damages the vehicle, but also causes serious personal and property injuries to other vehicles and drivers on the road. Because drivers in darkness have limited vision and acoustic alarms have low information transmission and are prone to misunderstanding for drivers in other vehicles on the road, there is an urgent need for a light-based early warning solution. The existing automobile lighting scheme is generally that a strip light blanket with the width similar to that of an automobile is only formed in an area in front of the automobile by using a headlight of the automobile. This light blanket generally remains straight or follows a changing movement of the front lane. However, the light blanket has a single function, can only illuminate the front lane more aesthetically, lacks an effective early warning mechanism for lane changing behavior without using a turn signal lamp, and also is difficult to combine driver intention and vehicle running state to accurately transmit lane changing information, so that the safety warning requirement under high-risk road conditions at night cannot be met. Disclosure of Invention In view of the above, the embodiment of the application provides a method and a system for generating a light blanket for changing a lane of a vehicle, which comprehensively determine a target lane for turning the lane to be changed and determine a corresponding control point by acquiring body posture data of a driver, a vehicle side deviation rate for lane lines and a vehicle running track curvature, generate a curve light blanket based on the control point and cast the curve light blanket on the ground, accurately transmit the lane changing intention of the vehicle, effectively solve the safety early warning problem of turning the lane without turning lamps at night, and improve the safety of driving at night and the accuracy of conveying the lane changing intention. In a first aspect, an embodiment of the present application provides a method for generating an optical blanket for lane changing of a vehicle, which is applied to a processor of a vehicle control system, where the vehicle control system further includes a target lamp disposed in front of a vehicle, and the processor is connected to the target lamp, and the method includes: acquiring body posture data of a driver; Determining a first vehicle side deflection rate and a second vehicle side deflection rate of the vehicle according to first lane line information of a lane where the vehicle is located currently, wherein the first vehicle side deflection rate represents the rate of movement of the left side edge of the vehicle to a left lane line of the lane where the vehicle is located currently, and the second vehicle side deflection rate represents the rate of movement of the right side edge of the vehicle to a right lane line of the lane where the vehicle is located currently; Determining a running track and a running track curvature of the vehicle according to the running state data of the vehicle; Determining a target lane into which the vehicle is to be lane-changed according to the body posture data, the first vehicle side offset rate, the second vehicle side offset rate, and the running track curvature; Determining a plurality of target control points positioned on the target lane and the running track; And generating a light blanket track according to the plurality of target control points, and controlling the target car lamp to project on the ground according to the light blanket track to form a curved light blanket. In a second aspect, the present application further provides a vehicle control system, where the vehicle control system includes a processor and a target lamp disposed in front of a vehicle, and the processor is connected to the target lamp, and the system is configured to perform the steps in the first aspect of the embodiment of the present application. In a third aspect, an embodiment of the present application provides an electronic device, including a processing module, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processing module, and the programs include instructions for performing the steps in the first aspect of the embodiment of the present application. In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes