CN104442815A - Deviation early warning system and method for automobile - Google Patents
Deviation early warning system and method for automobile Download PDFInfo
- Publication number
- CN104442815A CN104442815A CN201410630457.0A CN201410630457A CN104442815A CN 104442815 A CN104442815 A CN 104442815A CN 201410630457 A CN201410630457 A CN 201410630457A CN 104442815 A CN104442815 A CN 104442815A
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- Prior art keywords
- white line
- wheel
- road
- automobile
- road white
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a deviation early warning system and method for an automobile. The system comprises a camera, an image processing module, a deviation judgment module, a prompting module and a vibrator, wherein the camera is arranged at the front end of the automobile and used for obtaining images of a road in front of an automobile, the image processing module is arranged in an on-board host computer and used for judging whether wheels press road white lines or not according to the images of the road, the prompting module is arranged in the on-board host computer and used for sending a vibration control instruction to the vibrator when the wheels press the road white lines, and the vibrator is arranged on a safety belt and used for conducting vibration according to the received vibration control instruction. The vibrator is in wireless communication with the on-board host computer, the camera is connected with the on-board host computer, and the image processing module, the deviation judgment module and the prompting module are sequentially connected.
Description
Technical field
The present invention relates to automobile manufacturing field, particularly relate to automobile departure warning system and method.
Background technology
Automobile in the process of moving, often lane change travels, and can play steering indicating light when lane change travels, and does not play steering indicating light and carries out lane change or cause automobile generation orbit displacement because energy is not concentrated, easily get into an accident, cause irremediable loss, and automobile in the process of moving, wheelpath is in real time in variation, how accurately to judge that automobile there occurs skew, and alerting drivers, avoiding traffic accident occurs, is a problem demanding prompt solution
Therefore, prior art has yet to be improved and developed.
Summary of the invention
In view of above-mentioned the deficiencies in the prior art, the object of the present invention is to provide a kind of automobile departure warning system and method, when being intended to solve automobile generation orbit displacement, the problem of reminding user.
Technical scheme of the present invention is as follows:
A kind of automobile departure warning system, comprising:
Be arranged on automotive front end, for obtaining the camera of vehicle front road image;
Be arranged in on-vehicle host, for extracting the image processing module of road white line to road image process;
Be arranged in on-vehicle host, for judging according to road image whether wheel rolls the skew judge module of road white line;
Be arranged in on-vehicle host, use sends shake control instruction to electromagnetic shaker when wheel rolls road white line reminding module;
Be arranged on safety strap, carry out according to the shake control instruction received the electromagnetic shaker that shakes;
Electromagnetic shaker is connected with on-vehicle host radio communication, and camera connects on-vehicle host, and image processing module, skew judge module and reminding module connect successively.
Described automobile departure warning system, wherein, described skew judge module also comprises: shift time acquiring unit, rolls the road white line lasting time for obtaining wheel.
Described automobile departure warning system, wherein, described reminding module also comprises:
Whether steering indicating light detecting unit, open for detecting steering indicating light;
Judging unit, consistent for judging that the direction of road white line is rolled in steering indicating light direction whether with wheel;
Instruction sending unit, for roll when steering indicating light direction and wheel road white line direction inconsistent time, and when time length reaches Preset Time, send shake control instruction.
Described automobile departure warning system, wherein, described reminding module is not also for rolling road white line during when wheel or steering indicating light direction and wheel roll road white line direction consistent time, send and close vibration command.
Automobile skew method for early warning, wherein, comprises the following steps:
A, in advance camera for obtaining vehicle front road image is set at automotive front end;
B, on-vehicle host obtain the road image of camera, and extract road white line to road image process;
According to road image, C, on-vehicle host judge whether wheel rolls road white line;
D sends shake control instruction when wheel rolls road white line to electromagnetic shaker;
E, electromagnetic shaker receive shake control instruction and vibration responding.
Described automobile skew method for early warning, wherein, described step C also comprises: C1, acquisition wheel roll the time length of road white line.
Described automobile skew method for early warning, wherein, described step D also comprises:
Whether D1, detection steering indicating light are opened;
D2, to judge that the direction of road white line is rolled in steering indicating light direction whether with wheel consistent;
D3, when steering indicating light direction and wheel roll road white line direction inconsistent time, send shake control instruction.
Described automobile skew method for early warning, wherein, step D also comprises: when wheel does not roll road white line or steering indicating light direction and wheel roll road white line direction consistent time, send closedown vibration command.
Beneficial effect: the present invention obtains vehicle front road image by being arranged on automotive front end camera, then road white line is extracted to road image process, judge whether wheel rolls road white line according to road image, when wheel rolls road white line, judge that road white line is rolled in direction that steering indicating light opens whether with wheel consistent, when inconsistent and shift time exceedes Preset Time time, send shake control instruction to electromagnetic shaker and control electromagnetic shaker vibrations, reminding user lane departure, avoids meeting accident.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of automobile departure warning system of the present invention.
Fig. 2 is that automobile departure warning system of the present invention judges whether motor tire rolls the schematic diagram of white line.
Fig. 3 is the structured flowchart of the skew judge module of automobile departure warning system of the present invention.
Fig. 4 is the reminding module structured flowchart of automobile departure warning system of the present invention.
Fig. 5 is the flow chart of steps of automobile of the present invention skew method for early warning.
Fig. 6 is the diagram of circuit of the step S104 of automobile of the present invention skew method for early warning.
Detailed description of the invention
The invention provides automobile departure warning system and method, for making object of the present invention, technical scheme and effect clearly, clearly, the present invention is described in more detail below.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1, Fig. 1 is the structured flowchart of automobile departure warning system of the present invention, wherein, comprising:
Be arranged on automotive front end, for obtaining the camera 101 of vehicle front road image;
Be arranged in on-vehicle host 100, for extracting the image processing module 102 of road white line to road image process;
Be arranged in on-vehicle host, for judging according to road image whether wheel rolls the skew judge module 103 of road white line;
Be arranged in on-vehicle host, use sends shake control instruction to electromagnetic shaker when wheel rolls road white line reminding module 104;
Be arranged on safety strap, carry out according to the shake control instruction received the electromagnetic shaker 105 that shakes;
Electromagnetic shaker 105 is connected with on-vehicle host 100 radio communication, and camera 101 connects on-vehicle host 100, and image processing module 102, skew judge module 103 and reminding module 104 connect successively.
Automobile departure warning system of the present invention, camera is arranged on automobile leading portion, for Real-time Obtaining vehicle front road image, and by the image transmitting got to the image processing module be connected with camera, image procossing is carried out to road image, extract the road white line in image, according to road image, skew judge module judges whether wheel rolls road white line, here wheel only shows front vehicle wheel, because camera is arranged on automotive front end, front vehicle wheel offsets, trailing wheel just can be caused to offset, and front vehicle wheel is divided into left wheel and right wheel, when left wheel rolls white line, left steering lamp is opened, it is normal running mode, in like manner, right wheel rolls white line, it is the same reason that right steering lamp is opened.
How the present invention specifically judges whether wheel rolls the method for white line, as shown in Figure 2, for the image of road white line obtained after image processing module process, wherein L1 and L2 is the road white line image obtained, residing for L1 reverse extending line L3 and camera, the intersection point of horizontal linear is A, residing for L2 reverse extending line L4 and camera, the intersection point of horizontal linear is B, if A point distance camera position O distance is H1 pixel, if B point distance O distance is H2 pixel, a preferred embodiment of the present invention, assuming that the distance between wheel and camera O is 5 pixels, because the spacing of wheel and camera is fixing, therefore only need to judge whether H1 and H2 is greater than 5 and can judges whether wheel rolls white line, be specially, when H1 is less than or equal to 5, illustrate that the distance of road white line and camera is less than the distance of wheel and camera, therefore can judge that left wheel has rolled road white line, in like manner, when H2 is less than or equal to 5, then illustrate that right wheel has rolled road white line, when H1 and H2 is all greater than 5, illustrate that left and right wheels does not all roll road white line, above-mentioned data are the data that image that image processing module obtains sets, the not data of truth.
Automobile departure warning system of the present invention, automobile in the process of moving, there will be skew situation unavoidably, but do not grow, and do not form impact to traffic safety the time continued, therefore automobile departure warning system of the present invention, as shown in Figure 3, be the skew judge module structured flowchart of the inclined automobile sliding forewarn system of the present invention, wherein, described skew judge module 103 also comprises: shift time acquiring unit 301, rolls the road white line lasting time for obtaining wheel.
Further, when wheel rolls road white line, if now played steering indicating light, this is correct running mode, therefore automobile departure warning system of the present invention has also added whether judge that wheel rolls the direction of road white line consistent with steering indicating light direction, as shown in Figure 4, be automobile departure warning system reminding module structured flowchart of the present invention, described reminding module 104 also comprises:
Whether steering indicating light detecting unit 401, open for detecting steering indicating light;
Judging unit 402, consistent for judging that the direction of road white line is rolled in steering indicating light direction whether with wheel; Whether steering indicating light detecting unit of the present invention is opened for detecting steering indicating light, during unlatching, further obtains the direction of steering indicating light, and when steering indicating light is beaten to the left side, what now wheel rolled white line is revolver, then can not send information warning.Only have when not playing steering indicating light, or steering indicating light direction and wheel roll the direction of road white line inconsistent time, just judgement vehicle offsets.
Instruction sending unit 403, for roll when steering indicating light direction and wheel road white line direction inconsistent time, and when time length reaches Preset Time, send shake control instruction.The present invention finally judge automobile occur skew condition as: 1, wheel rolls road white line; 2, steering indicating light is not opened, or the direction of steering indicating light indication and wheel to roll the direction of road white line inconsistent; 3, the condition time length meeting 1 and 2 reaches Preset Time.That is, when judging that vehicle generation skew exceedes certain hour, prompting user vehicle offsets.
Described automobile departure warning system, wherein, described reminding module 104 is not also for rolling road white line during when wheel or steering indicating light direction and wheel roll road white line direction consistent time, send and close vibration command.Further, automobile departure warning system of the present invention, reminding module, after sending information warning, detects again, and when detecting that skew does not occur vehicle, close vibration command, electromagnetic shaker cuts out, and stops vibrations.
Further, the present invention also provides a kind of automobile to offset method for early warning, as shown in Figure 5, is the flow chart of steps of automobile skew method for early warning of the present invention, wherein, comprises the following steps:
S101, in advance camera for obtaining vehicle front road image is set at automotive front end;
S102, on-vehicle host obtain the road image of camera, and extract road white line to road image process;
According to road image, S103, on-vehicle host judge whether wheel rolls road white line;
S104, send shake control instruction when wheel rolls road white line to electromagnetic shaker;
S105, electromagnetic shaker receive shake control instruction and vibration responding.
Described automobile skew method for early warning, wherein, described step S103 also comprises: S301, acquisition wheel roll the time length of road white line.
Further as shown in Figure 6, be the concrete steps diagram of circuit of the step S104 of automobile skew method for early warning of the present invention, described step S104 also comprises:
Whether S401, detection steering indicating light are opened;
S402, to judge that the direction of road white line is rolled in steering indicating light direction whether with wheel consistent;
S403, when steering indicating light direction and wheel roll road white line direction inconsistent time, send shake control instruction.
Described automobile skew method for early warning, wherein, step S104 also comprises: when wheel does not roll road white line or steering indicating light direction and wheel roll road white line direction consistent time, send closedown vibration command.
The step concrete operations details of described method of the present invention, describes in detail in systems in which, therefore repeats no more.
In sum, the present invention obtains vehicle front road image by being arranged on automotive front end camera, then road white line is extracted to road image process, judge whether wheel rolls road white line according to road image, when wheel rolls road white line, judge that road white line is rolled in direction that steering indicating light opens whether with wheel consistent, when inconsistent and shift time exceedes Preset Time time, send shake control instruction to electromagnetic shaker and control electromagnetic shaker vibrations, reminding user lane departure, avoids meeting accident.
Should be understood that, application of the present invention is not limited to above-mentioned citing, for those of ordinary skills, can be improved according to the above description or convert, and all these improve and convert the protection domain that all should belong to claims of the present invention.
Claims (8)
1. automobile departure warning system, is characterized in that, comprising:
Be arranged on automotive front end, for obtaining the camera of vehicle front road image;
Be arranged in on-vehicle host, for extracting the image processing module of road white line to road image process;
Be arranged in on-vehicle host, for judging according to road image whether wheel rolls the skew judge module of road white line;
Be arranged in on-vehicle host, use sends shake control instruction to electromagnetic shaker when wheel rolls road white line reminding module;
Be arranged on safety strap, carry out according to the shake control instruction received the electromagnetic shaker that shakes;
Electromagnetic shaker is connected with on-vehicle host radio communication, and camera connects on-vehicle host, and image processing module, skew judge module and reminding module connect successively.
2. automobile departure warning system according to claim 1, is characterized in that, described skew judge module also comprises: shift time acquiring unit, rolls the road white line lasting time for obtaining wheel.
3. automobile departure warning system according to claim 1, is characterized in that, described reminding module also comprises:
Whether steering indicating light detecting unit, open for detecting steering indicating light;
Judging unit, consistent for judging that the direction of road white line is rolled in steering indicating light direction whether with wheel;
Instruction sending unit, for roll when steering indicating light direction and wheel road white line direction inconsistent time, and when time length reaches Preset Time, send shake control instruction.
4. automobile departure warning system according to claim 1, is characterized in that, described reminding module is not also for rolling road white line during when wheel or steering indicating light direction and wheel roll road white line direction consistent time, send and close vibration command.
5. automobile skew method for early warning, is characterized in that, comprise the following steps:
A, in advance camera for obtaining vehicle front road image is set at automotive front end;
B, on-vehicle host obtain the road image of camera, and extract road white line to road image process;
According to road image, C, on-vehicle host judge whether wheel rolls road white line;
D sends shake control instruction when wheel rolls road white line to electromagnetic shaker;
E, electromagnetic shaker receive shake control instruction and vibration responding.
6. automobile skew method for early warning according to claim 5, it is characterized in that, described step C also comprises: C1, acquisition wheel roll the time length of road white line.
7. automobile skew method for early warning according to claim 5, it is characterized in that, described step D also comprises:
Whether D1, detection steering indicating light are opened;
D2, to judge that the direction of road white line is rolled in steering indicating light direction whether with wheel consistent;
D3, when steering indicating light direction and wheel roll road white line direction inconsistent time, send shake control instruction.
8. automobile according to claim 5 skew method for early warning, it is characterized in that, step D also comprises: when wheel does not roll road white line or steering indicating light direction and wheel roll road white line direction consistent time, send closedown vibration command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410630457.0A CN104442815A (en) | 2014-11-11 | 2014-11-11 | Deviation early warning system and method for automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410630457.0A CN104442815A (en) | 2014-11-11 | 2014-11-11 | Deviation early warning system and method for automobile |
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| Publication Number | Publication Date |
|---|---|
| CN104442815A true CN104442815A (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410630457.0A Pending CN104442815A (en) | 2014-11-11 | 2014-11-11 | Deviation early warning system and method for automobile |
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| CN (1) | CN104442815A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104820822A (en) * | 2015-04-22 | 2015-08-05 | 深圳市航盛电子股份有限公司 | Vehicle-mounted road offset identification method and system based on OpenCv Kalman filter |
| CN112440930A (en) * | 2019-09-04 | 2021-03-05 | 浙江吉利汽车研究院有限公司 | Safety belt lock catch and automobile using same |
| CN112622818A (en) * | 2020-12-31 | 2021-04-09 | 合肥移顺信息技术有限公司 | Automobile early warning system, automobile early warning method and automobile |
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| CN101870293A (en) * | 2009-04-24 | 2010-10-27 | 南京理工大学 | Vehicle driving state evaluating method based on road-switching behavior detection |
| CN102556066A (en) * | 2012-03-07 | 2012-07-11 | 长安大学 | Lane departure warning device for passenger vehicle and judgment method thereof |
| CN103533229A (en) * | 2012-07-05 | 2014-01-22 | 现代摩比斯株式会社 | Method and apparatus for recognizing lane |
| KR20140022197A (en) * | 2012-08-13 | 2014-02-24 | 주식회사 만도 | Lane detection method and lane departure warning system using same |
| CN104015725A (en) * | 2014-06-11 | 2014-09-03 | 吉林大学 | Lane departure warning method based on multi-parameter decision |
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2014
- 2014-11-11 CN CN201410630457.0A patent/CN104442815A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870293A (en) * | 2009-04-24 | 2010-10-27 | 南京理工大学 | Vehicle driving state evaluating method based on road-switching behavior detection |
| CN102556066A (en) * | 2012-03-07 | 2012-07-11 | 长安大学 | Lane departure warning device for passenger vehicle and judgment method thereof |
| CN103533229A (en) * | 2012-07-05 | 2014-01-22 | 现代摩比斯株式会社 | Method and apparatus for recognizing lane |
| KR20140022197A (en) * | 2012-08-13 | 2014-02-24 | 주식회사 만도 | Lane detection method and lane departure warning system using same |
| CN104015725A (en) * | 2014-06-11 | 2014-09-03 | 吉林大学 | Lane departure warning method based on multi-parameter decision |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104820822A (en) * | 2015-04-22 | 2015-08-05 | 深圳市航盛电子股份有限公司 | Vehicle-mounted road offset identification method and system based on OpenCv Kalman filter |
| CN112440930A (en) * | 2019-09-04 | 2021-03-05 | 浙江吉利汽车研究院有限公司 | Safety belt lock catch and automobile using same |
| CN112622818A (en) * | 2020-12-31 | 2021-04-09 | 合肥移顺信息技术有限公司 | Automobile early warning system, automobile early warning method and automobile |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20150325 |