CN102951159A - Lane departure early-warning system - Google Patents
Lane departure early-warning system Download PDFInfo
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- CN102951159A CN102951159A CN2012104425463A CN201210442546A CN102951159A CN 102951159 A CN102951159 A CN 102951159A CN 2012104425463 A CN2012104425463 A CN 2012104425463A CN 201210442546 A CN201210442546 A CN 201210442546A CN 102951159 A CN102951159 A CN 102951159A
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Abstract
The invention relates to a lane departure early-warning system, and the lane departure early-warning system is arranged in a vehicle, and the lane departure early-warning system comprises a plurality of sensing units, at least one communication channel, an operation module and a warning signal generation module. The sensing units are used for sensing the transportation state of the vehicle and for generating a plurality of sensing signals by synchronizing the frequency. The communication channel is electrically connected to the sensing units and used for transmitting the sensing signals. The operation module is electrically connected with the communication channel and used for receiving the sensing signals, acquiring a plurality of running state data corresponding to the sensing signals and for generating a control signal when the running state data conforms to a preset condition. The warning signal generation module is electrically connected with the communication channel and used for generating a warning signal and stop generating the warning signal or forbid to generate the warning signal according to the control signal. Due to the adoption of the lane departure early-warning system, the accurate warning signal can be transmitted so as to early warn a driver to avoid the accident and to improve the driving safety.
Description
Technical field
The present invention relates to a kind of automobile-used forewarn system, particularly a kind of lane departure warning system.
Background technology
According to the car accident statistical report, the trend that the accident ratio that automotive run-off-road causes is significantly increased.So-called track refers to that the zone of vehicle wheeled, lane mark are the visible marks track continuous edge or that be interrupted, such as: yellow line, white line etc.Automotive run-off-road refers to that vehicle sails out of the track of current driving, and the part of vehicle contacts or surpasses lane mark, and the vehicle collision accident that is caused by automotive run-off-road is called Lane Departure.
Lane departure warning system (Lane Departure Warning System is called for short LDWS) namely is when high vehicle speeds, chaufeur since absent-minded, tired, the factor such as divert one's attention unconsciously drive and cause vehicle to depart from the track of current driving, automatically give a warning immediately behind the lane departure warning system sensing, the prompting chaufeur is sailed vehicle and is responded in the track of travelling, and avoids having an accident.
Flourish along with the auto electronic system, increasing electronic control unit (ElectronicControl Unit is called for short ECU) is imported into vehicle, with the performance of lifting vehicle, safe and comfortable, as can normal operation with human each organ of neural network management and control health, vehicle electronics communication system and communications protocol can make that numerous ECU communicates with each other and co-ordination in the vehicle.The quantity of ECU increases in the vehicle, so that traditional small-sized internet (Local Interconnect Network is called for short LIN) or control area net（CAN） network (Control Area Network is called for short CAN) vehicle mounted communication agreement are difficult to bear huge data volume.
The vehicle high speed communications protocol (FlexRay) of rising recently, it is advantageous that the triggering communication of simultaneously support time and Event triggered communication, the vehicle high speed communications protocol adopts the allocation scheme of static section (static segment) and two kinds of signal transmissions power of dynamic section (dynamic segment) in each communication cycle.Each electronic control unit is connected at least one communication channel with bus or starlike mode in the car, when triggering communication in the time, each electronic control unit is compiled and edited sequence number separately in static section, each electronic control unit is in the static section time slot of a communication cycle, can produce the sensing signal that comprises the vehicle running state data in the mode of frequency-synchronized according to its sequence number separately, transfer to other electronic control units via communication channel; When the Event triggered communication, after each electronic control unit senses event, can in the dynamic section time slot of a communication cycle, produce the sensing signal that another comprises the vehicle running state data, transfer to other electronic control units via communication channel.
Yet, the lane-departure warning system of vehicle high speed communications protocol (FlexRay) has at a high speed, low reaction time and the characteristic that guarantees transmission bandwidth owing to using, cause many situations that need not give a warning but again and again to send warning signal, too much wrong warning signal be except disturbing chaufeur, also may be so that really should note the warning signal of run-off-road and ignored by chaufeur.Therefore, how setting suitably the condition of lane departure warning system, send accurately warning signal and avoid having an accident, promoting traffic safety in order to the early warning chaufeur, namely is main purpose of the present invention.
Summary of the invention
The invention provides a kind of lane departure warning system, can send accurately warning signal and avoid having an accident, promoting traffic safety in order to the early warning chaufeur.
The invention provides a kind of lane departure warning system, be disposed in the vehicle, it comprises a plurality of sensing cells, at least one communication channel, computing module and warning signal generation module.A plurality of sensing cells, the senses vehicle motoring condition produces a plurality of sensing signals in order to frequency-synchronized.At least one communication channel is electrically connected at sensing cell, in order to transmit sensing signal.Computing module is electrically connected at communication channel, receives sensing signal, in order to obtaining included many corresponding motoring condition data of sensing signal, meets at the status data that travels and to produce control signal when pre-conditioned.The warning signal generation module is electrically connected at communication channel, in order to produce warning signal according to control signal, stop to produce warning signal or to forbid producing warning signal.
In one embodiment of this invention, above-mentioned sensing cell comprises: at least one speed sensitive unit comprises the above-mentioned sensing signal of the speed state data of vehicle in order to generation; At least one image sensing unit comprises the above-mentioned sensing signal of the track status data of Vehicle Driving Cycle in order to generation; At least one vehicle body sense of stability measurement unit comprises the above-mentioned sensing signal of the yaw velocity status data of vehicle in order to generation; At least one steering wheel angle sensing cell comprises the above-mentioned sensing signal of the steering wheel angle status data of vehicle in order to generation; Zhi Shao Yi Brake car antiblock device sensing cell, comprise the above-mentioned sensing signal of vehicle De Brake car antiblock device status data in order to generation; At least one kinaestheic measurement unit comprises the above-mentioned sensing signal of the dynamic regime data of vehicle in order to generation; And at least one body control system sensing cell, comprise the above-mentioned sensing signal of emergency signal, turn sign or the windscreen wiper rotating speed status data of vehicle in order to generation.
In one embodiment of this invention, the front tyre that the pre-conditioned speed that comprises above-mentioned vehicle surpasses a preset value and above-mentioned vehicle one side travels when crossing a lane mark on the track, produces above-mentioned warning signal.
In one embodiment of this invention, above-mentioned pre-conditioned comprise Vehicle Driving Cycle cross surpass behind the above-mentioned lane mark body width 40% the time, stop to produce above-mentioned warning signal.
In one embodiment of this invention, above-mentioned pre-conditioned comprising when chaufeur is opened left-hand rotation or right steering signal, stop generation or forbid producing above-mentioned warning signal.
In one embodiment of this invention, above-mentioned pre-conditioned comprising when vehicle De Brake car antiblock device is opened, stop generation or forbid producing above-mentioned warning signal.
In one embodiment of this invention, when the above-mentioned pre-conditioned power system that comprises vehicle is opened into maximum rating, stops to produce or forbid producing above-mentioned warning signal.
In one embodiment of this invention, above-mentioned pre-conditioned comprising when chaufeur is opened windscreen wiper to the maximum speed of revolution state, stop generation or forbid producing above-mentioned warning signal.
In one embodiment of this invention, above-mentioned computing module comprises: data storage cell, and above-mentioned pre-conditioned in order to store; Arithmetic element is in order to produce above-mentioned control signal; And communication unit, in order to receive above-mentioned sensing signal and to transmit above-mentioned control signal.
In one embodiment of this invention, above-mentioned warning signal generation module comprises loud speaker, illuminator or electromagnetic shaker or its combination.
In one embodiment of this invention, above-mentioned warning signal comprises aud. snl., light signal or vibration signal or its combination, and above-mentioned warning signal comprises aud. snl., light signal or vibration signal or its combination.
The present invention is because having adopted new-type vehicle high speed communications protocol, and set rightly the condition of lane departure warning system, so lane departure warning of the present invention system not only has the function of the vehicle running state data of high speed processing bulky complex, can also be at chaufeur when unconsciously steering vehicle departs from the track of current driving, send warning signal in real time, the prompting chaufeur is sailed vehicle and is responded in the track of travelling, and avoids having an accident, and ensures the safety of chaufeur life and property.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of specification sheets, and for above and other purpose of the present invention, feature and advantage can be become apparent, below especially exemplified by preferred embodiment, and the cooperation accompanying drawing, be described in detail as follows.
Description of drawings
Figure 1A is the block schematic diagram that the present invention utilizes the designed lane departure warning system of vehicle high speed communications protocol (FlexRay).
Figure 1B is lane departure warning system transmissions signal scheduling schematic diagram of the present invention.
Fig. 2 is the function block schematic diagram of the preferred embodiment of lane departure warning of the present invention system.
Fig. 3 A to Fig. 3 C is the schematic flow sheet that the deviation event is judged by lane departure warning of the present invention system.
Fig. 4 is the structure diagram of block of computing module among the present invention.
The specific embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, its specific embodiment of lane departure warning system, structure, feature and effect to foundation the present invention proposes are described in detail as follows.
Relevant aforementioned and other technology contents of the present invention, Characteristic can clearly present in describing in detail with reference to graphic preferred embodiment in following the cooperation.By the explanation of the specific embodiment, when can being to reach technological means and the effect that predetermined purpose takes to be able to more deeply and concrete understanding to the present invention, yet appended graphic only provide with reference to the usefulness of explanation, the present invention is limited.
Please refer to Figure 1A, it utilizes the block schematic diagram of the designed lane departure warning system of vehicle high speed communications protocol (FlexRay) for the present invention.Be disposed at the various motoring conditions of the various sensing cell senses vehicle in each zone of vehicle, for example: the speed of speed of a motor vehicle sensing cell A senses vehicle, the track situation that image sensing unit B senses vehicle is travelled.In the present embodiment, speed of a motor vehicle sensing cell A, image sensing unit B, computing module C and warning signal generation module D are electrically connected at respectively communication channel 1.It is worth mentioning that, the bus system of using vehicle high speed communications protocol (FlexRay) also can increase a communication channel and (can be described as again the redundancy communication passage, figure does not show), article two, the bandwidth of communication channel signal transmission even the bandwidth that can reach control area net（CAN） network (CAN) bus system are more than 20 times, and, various sensing cells, computing module C and warning signal generation module D can also be connected to the mode (not shown) of star topology on two communication channels, therefore, using the designed lane departure warning system of vehicle high speed communications protocol (FlexRay) can send warning signal more in real time for various traveling state of vehicle, and reminding driver is avoided causing danger.
Please refer to Figure 1B, it is lane departure warning system transmissions signal scheduling schematic diagram of the present invention again.Vehicle high speed communications protocol (FlexRay) constantly repeats take a communication cycle (Communication Cycle) as unit, be divided into static section (static segment) 1100, dynamic section (dynamic segment) 1200 and network standby section (Network Idle Time) 1300 in the communication cycle 1000, but wherein the section of signal transmission is static section (static segment) 1100 and dynamic section (dynamicsegment) 1200.Static section 1200 is take time slot (Slot) as unit, be divided into the time slot of a plurality of regular lengths, be connected in the various sensing cells on the communication channel 1, computing module C and warning signal generation module D, time slot at corresponding static section fixed address has been compiled and edit heading code, and for example: speed sensitive unit A corresponds to time slot 1101, and to compile and edit heading code be 1101a, image sensing unit B corresponds to time slot 1102, and to compile and edit heading code be 1102b, computing module C corresponds to time slot 1103, and to compile and edit heading code be that 1103c and warning signal generation module D correspond to time slot 1104 to compile and edit heading code be 1104d.Be connected in the frequency-synchronized of speed sensitive unit A, image sensing unit B, computing module C and warning signal generation module D on the communication channel 1, when the frequency of communication cycle 1000 during at time slot 1101, the sensing signal that only has speed sensitive unit A to have the right to transmit to comprise vehicle speed data is to communication channel 1, if speed sensitive unit A does not transmit sensing signal at time slot 1101, speed sensitive unit A just haves no right at the other times groove transmission sensing signal of static section.If speed sensitive unit A still need to transmit sensing signal in communication cycle 1000, speed sensitive unit A can utilize dynamic section 1200, dynamically section 1200 is divided into a plurality of mini time slots (among the figure shown in the dotted line), each shared mini time slot number of signal can change according to the included data volume of sensing signal, when using dynamic section signal transmission, can change various sensing cells, the transmission priority of computing module C and warning signal generation module D, the expression mode of preceence is priority recognition code included in the signal, the data that level of priority is higher can take more mini time slot, for example: when image sensing unit B transmits the sensing signal 1102B that comprises automotive run-off-road in time slot 1102, and speed sensitive unit A comprises that in dynamic section 1200 transmission car speed surpasses 60 kilometers/hour sensing signal 1201A, computing module C receives sensing signal 1102B and sensing signal 1201A obtains many included motoring condition data of sensing signal, meet the pre-conditioned of " front tyre that speed surpasses 60 kilometers/hour and a side travels and crosses lane mark on the track ", then judge " the deviation event occurs ", computing module C can use dynamic section 1200 transmission of control signals 1202C to communication channel 1 in real time, at this dynamic section, if the grade of the priority recognition code 1202c-1 that comprises among the control signal 1202C is higher than the grade of the included priority recognition code of other signals, then only have control signal 1202C to have the right in communication channel 1 transmission, warning signal generation module D via communication channel 1 reception control signal 1202C after, warning signal generation module D produces the warning signal reminding driver according to control signal 1202C and avoids causing danger.
Fig. 2 is the function block schematic diagram of the preferred embodiment of lane departure warning of the present invention system.Please refer to Fig. 2, at least one speed sensitive unit A, at least one image sensing unit B, computing module C, warning signal generation module D, at least one vehicle body sense of stability measurement unit E, at least one steering wheel angle sensing cell F, the few Yi Brake car antiblock device sensing cell H of at least one body control system sensing cell G, Zhi and at least one kinaestheic measurement unit J are electrically connected at respectively communication channel 1 in the mode of bus.Speed sensitive unit A comprises the sensing signal of car speed status data in order to generation; Image sensing unit B comprises the sensing signal of the track status data that vehicle travels in order to generation; Vehicle body sense of stability measurement unit E comprises the sensing signal of Vehicular yaw cireular frequency status data in order to generation; Steering wheel angle sensing cell F comprises the sensing signal of steering wheel for vehicle corner status data in order to generation; Body control system sensing cell G comprises the sensing signal of the status datas such as emergency signal, turn sign or windscreen wiper rotating speed of vehicle in order to generation; Brake car antiblock device sensing cell H comprises the sensing signal of Che Liang Brake car antiblock device status data in order to generation; And kinaestheic measurement unit I comprises the sensing signal of vehicle power status data in order to generation.It is worth mentioning that, the various demands such as performance, safety and comfort level according to vehicle, by all kinds of electronic systems that are disposed at each regional electronic control unit of vehicle and form in order to the sensing cell of the various use states of senses vehicle etc., its division of labor is more and more meticulousr; The electronic component of identical function in a kind of electronic system, its quantity is also more and more, for example: be installed in vehicle's surroundings, the mode that receives again reflection wave with emitting radio waves come monitor vehicle with arround a plurality of radar sensors of vehicle or obstacle distance, they can be in conjunction with a plurality of image sensors, in order to provide chaufeur and various electronic control unit more complete and real-time track status data, in the block schematic diagram of deviation shown in Figure 2 system, be connected in the various sensing cells of communication channel 1, its quantity and kind can change or increase and decrease according to early-warning conditions and the actual demand that the deviation system sets.In addition, lane departure warning of the present invention system is the alternative switch J that increases also, is arranged at the operator's saddle instrument desk, is electrically connected at computing module C, manually opens or close the supply power supply to computing module in order to chaufeur to be provided; And indicator lamp K, when switch J opened, the power supply of vehicle was supplied to computing module C, and indicator lamp K can light, and is in running order in order to show computing module C.
Fig. 3 A to Fig. 3 C is the schematic flow sheet that the deviation event is judged by lane departure warning of the present invention system.Please refer to Fig. 3 A, computing module entered readiness for action after the lane departure warning system opened, step S301 computing module receives many vehicle running state data via communication channel in a communication cycle after, at first, whether the lane width that step S302 computing module enquiring vehicle travels is less than 2.8 meters, if inquiry is yes, computing module is kept readiness for action, if inquiry is no; Whether step S303 computing module enquiring vehicle speed is lower than 55 kilometers/hour ~ 60 kilometers/hour, if inquiry is yes, computing module is kept readiness for action; If inquiry is no; Whether step S304 computing module inquiry opens a left side or right turn signal, if inquiry be yes, computing module is judged as chaufeur and will turns consciously, and computing module recovers readiness for action after a left side or right turn signal are closed 2 seconds, be no if inquire about; Whether step S305 computing module enquiring vehicle De Brake car antiblock device is opened, if inquiry is yes, computing module is judged as chaufeur consciously at the track unsafe condition of dodging, and computing module is kept readiness for action, if be judged as noly, then carries out next step.
Please refer to Fig. 3 B, judgement flow process shown in the hookup 3A, whether step S306 computing module enquiring vehicle power system is opened into maximum rating, for example: spraying nipple and throttle gate moment are opened into maximum, computing module is judged as chaufeur consciously at the track unsafe condition of dodging, computing module is kept readiness for action, if be judged as no; Whether the tire of step S307 computing module enquiring vehicle one side is pressing the fast lane line to travel, if inquiry is yes, computing module is judged as chaufeur and will turns, and computing module is kept readiness for action, if inquiry is no; Whether step S308 computing module inquiry windscreen wiper is opened into the maximum speed of revolution state, if inquiry is yes, computing module judges that vehicle travels under the heavy rain state, in the heavy rain situation, the lane mark identification precision is very low, the lane departure warning system is the early warning chaufeur accurately, computing module sends the control signal C02 that forbids producing warning signal, the warning signal generation module receives the warning signal that sent 2 seconds behind this kind control signal and points out the early warning of lane departure warning System Halt, until chaufeur reduces the windscreen wiper rotating speed, computing module recovers readiness for action; If be judged as noly, then carry out next step.
Please refer to again Fig. 3 C, judgement flow process shown in the hookup 3B, whether the front tyre whether step S309 computing module enquiring vehicle speed surpass 60 kilometers/hour and a side travels simultaneously and crosses width greater than 10 centimetres of lane maries less than 55 centimetres, if inquiry is no, computing module is kept readiness for action, if inquiry is yes, computing module is judged as the deviation event that occurs, computing module sends the control signal C01 that produces warning signal, and the warning signal generation module produces warning signal early warning chaufeur after receiving this kind control signal; Then, step S310 computing module again enquiring vehicle travels to cross whether surpass 40% of body width behind the lane mark, if inquiry is yes, computing module is judged as chaufeur and carries out consciously lane change, computing module sends the control signal C03 that stops to produce warning signal, the warning signal generation module stops to produce warning signal after receiving this kind control signal, if inquiry is no, computing module is judged as and continues to occur the deviation event, computing module continues to send the control signal C01 that produces warning signal, and the warning signal generation module continues to produce warning signal early warning chaufeur after receiving this kind control signal.Specifically, the warning signal generation module can comprise loud speaker, illuminator or electromagnetic shaker or its combination, and for example, the warning signal generation module can be connected in audio-visual devices in the car, produces the audible alert signal behind the warning signal generation module reception control signal; Illuminator can be arranged on operator's saddle instrument desk or the room mirror, produces the light warning signal behind the warning signal generation module reception control signal; Electromagnetic shaker can be arranged on bearing circle or the driver's seat, produces the vibrations warning signal behind the warning signal generation module reception control signal.The warning signal generation module produces aud. snl., light signal or vibration signal or its combination, in order to the early warning chaufeur.It is worth mentioning that, Figure 3 shows that the judgement flow process that computing module carries out in a communication cycle, computing module is take a communication cycle as unit, repeatedly carries out above-mentioned flow process and inquires about and judge various vehicle running state data.
Fig. 4 is the structure diagram of block of computing module among the present invention.Please refer to Fig. 4, computing module C comprises data storage cell 41, arithmetic element 42 and communication unit 43.Data storage cell 41 produces the pre-conditioned of warning signal in order to store the deviation forewarn system; Arithmetic element 42 receives various vehicle running state data, judges when the vehicle running state data fit is pre-conditioned, in order to produce control signal; But communication unit 43 frequency-synchronized compilings meets the signal of vehicle high speed communications protocol, receives sensing signal that various sensing cells produce from communication channel 1 and transfers to arithmetic element 42 and receive the control signal that arithmetic element 42 produces and transfer to communication channel 1.It is worth mentioning that, computing module C also can connect external host by the port (not shown) that is arranged at vehicle, carry out the work such as pre-conditioned renewal, record detection and function debug via external host, in order to promote and to guarantee the performance of lane departure warning system.
In sum, in lane departure warning of the present invention system because used new-type vehicle high speed communications protocol, and set rightly the condition of lane departure warning system, so lane departure warning of the present invention system not only has the function of the vehicle running state data of high speed processing bulky complex, at the situation that does not need the to give a warning interference chaufeur that can not send out a warning signal again and again by mistake, more can be at chaufeur because absent-minded, tired, the factor such as divert one's attention is unconsciously driven when causing vehicle to depart from the track of current driving, send warning signal in real time, the prompting chaufeur is sailed vehicle and is responded in the track of travelling, avoid having an accident, ensure the safety of chaufeur life and property.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, although the present invention discloses as above with preferred embodiment, yet be not to limit the present invention, any those skilled in the art, within not breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be not break away from the technical solution of the present invention content, any simple modification that foundation technical spirit of the present invention is done above embodiment, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a lane departure warning system is disposed in the vehicle, and it is characterized in that: it comprises:
A plurality of sensing cells, this vehicle running state of sensing produces a plurality of sensing signals in order to frequency-synchronized, and those sensing signals comprise respectively many corresponding motoring condition data;
At least one communication channel is electrically connected at those sensing cells, in order to transmit those sensing signals;
One computing module is electrically connected at this communication channel, receives those sensing signals, in order to obtaining those motoring condition data, and unifies in those motoring condition data symbols and to produce a control signal when pre-conditioned; And
One warning signal generation module is electrically connected at this communication channel, in order to produce a warning signal according to this control signal, stop to produce this warning signal or to forbid producing this warning signal.
2. lane departure warning according to claim 1 system, it is characterized in that: those sensing cells comprise:
At least one speed sensitive unit comprises this sensing signals of the speed state data of this vehicle in order to generation;
At least one image sensing unit comprises this sensing signal of the track status data of this Vehicle Driving Cycle in order to generation;
At least one vehicle body sense of stability measurement unit comprises this sensing signal of the yaw velocity status data of this vehicle in order to generation;
At least one steering wheel angle sensing cell comprises this sensing signal of the steering wheel angle status data of this vehicle in order to generation;
Zhi Shao Yi Brake car antiblock device sensing cell, comprise this sensing signal of this vehicle De Brake car antiblock device status data in order to generation;
At least one kinaestheic measurement unit comprises this sensing signals of the dynamic regime data of this vehicle in order to generation; And
At least one body control system sensing cell comprises this sensing signal of emergency signal, turn sign or the windscreen wiper rotating speed status data of this vehicle in order to generation.
3. lane departure warning according to claim 2 system is characterized in that: the front tyre that the speed that this is pre-conditioned to comprise this vehicle surpasses a preset value and this vehicle one side travels when crossing a lane mark on the track, produces this warning signal.
4. lane departure warning according to claim 3 system is characterized in that: this is pre-conditioned comprise this Vehicle Driving Cycle cross surpass behind this lane mark body width 40% the time, stop to produce this warning signal.
5. lane departure warning according to claim 2 system is characterized in that: this is pre-conditioned to comprise that chaufeur is opened or during the right steering signal, stops to produce or forbids producing this warning signal.
6. lane departure warning according to claim 2 system is characterized in that: this pre-conditioned comprising when this vehicle De Brake car antiblock device is opened, stop to produce or forbid producing this warning signal.
7. lane departure warning according to claim 2 system is characterized in that: when the power system that this is pre-conditioned to comprise this vehicle is opened into maximum rating, stops to produce or forbid producing this warning signal.
8. lane departure warning according to claim 2 system is characterized in that: this pre-conditioned comprising when chaufeur is opened windscreen wiper to the maximum speed of revolution state, stop to produce or forbid producing this warning signal.
9. lane departure warning according to claim 1 system, it is characterized in that: this computing module comprises:
One data storage cell, pre-conditioned in order to store this;
One arithmetic element is in order to produce this control signal; And
One communication unit is in order to receive those sensing signals and to transmit this control signal.
10. lane departure warning according to claim 1 system, it is characterized in that: this warning signal generation module comprises loud speaker, illuminator or electromagnetic shaker or its combination, this warning signal comprises aud. snl., light signal or vibration signal or its combination.
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| CN104978563A (en) * | 2014-04-14 | 2015-10-14 | 本田技研工业株式会社 | Lane mark recognition device |
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| CN107406081A (en) * | 2015-03-05 | 2017-11-28 | 高通股份有限公司 | Use the driver of the startup improved response time |
| CN108725447A (en) * | 2017-04-18 | 2018-11-02 | 慧展科技股份有限公司 | Driving condition alarming method for power and its system |
| CN108819940A (en) * | 2018-06-26 | 2018-11-16 | 北京新能源汽车股份有限公司 | A kind of control method, system and the automobile of deviation auxiliary braking system |
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| CN113135193B (en) * | 2021-04-16 | 2024-02-13 | 阿波罗智联(北京)科技有限公司 | Method, device, storage medium and program product for outputting early warning information |
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Effective date of registration: 20190403 Address after: 317000 east gate of Taizhou City, Zhejiang Province Co-patentee after: Zhejiang Geely Holding Group Co., Ltd. Patentee after: Zhejiang Geely Automobile Research Institute Co., Ltd. Address before: 311228 No. 206 Farmer's Second House in Linjiang Industrial Park, Xiaoshan District, Hangzhou City, Zhejiang Province Co-patentee before: Zhejiang Geely Automobile Research Institute Co., Ltd. Patentee before: Hangzhou Branch, Zhejiang Geely Automobile Research Institute Co., Ltd. Co-patentee before: Zhejiang Geely Holding Group Co., Ltd. |