CN105329161B - The method and apparatus for detecting vehicle shift lane - Google Patents
The method and apparatus for detecting vehicle shift lane Download PDFInfo
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- CN105329161B CN105329161B CN201410301927.9A CN201410301927A CN105329161B CN 105329161 B CN105329161 B CN 105329161B CN 201410301927 A CN201410301927 A CN 201410301927A CN 105329161 B CN105329161 B CN 105329161B
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Abstract
The invention discloses a kind of method and apparatus for detecting vehicle shift lane, wherein, the method in vehicle shift lane is detected the following steps are included: generating the first picture signal according to the lane line situation and lane situation of vehicle front by the line scan image sensor being installed on vehicle, and after generating the first picture signal preset time, the second picture signal is generated according to the lane line situation of vehicle front and lane situation；The absolute value of lane line slope is generated according to the first picture signal and the second picture signal, and judges vehicle shift lane when the absolute value of lane line slope is greater than preset threshold, and generate vehicle shift lane information；Export vehicle shift lane information.The method and apparatus in detection vehicle shift lane of the invention generate a line picture signal using line scan image sensor, and data volume is few, and processing speed is fast, image output frame rate is high, and scalability is good, at low cost, it is simple easily to realize, and can more timely and accurately carry out warning note.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of method for detecting vehicle shift lane and a kind of detection vehicle
The device of offset lanes.
Background technique
Along with automobile birth so far, automotive safety research is one of the hot spot of automotive research always.In addition, with society
The progress of meeting and economic fast development, people efficiently require traffic increasingly to improve, and worldwide automobile is possessed
Amount is continuously increased, and motor-vehicle accident is also constantly rising.This is but also motor traffic safety becomes global research topic.After
And the electronic equipment of various automobile active safeties comes into being, lane shift detector is exactly one such.
Lane shift detector in the related technology is various, but is all based on same technical solution mostly, that is, passes through
Array image sensor is installed in center or vehicle body two sides before vehicle, and the lane geometry according to array image sensor acquisition is special
Sign, the dynamic parameter of vehicle and deviation evaluation algorithms evaluate a possibility that automotive run-off-road, as necessary by
Signal display interface is alarmed to driver.
The technical solution that above-mentioned lane shift detector in the related technology uses is primarily present following disadvantage:
First, it is needed using the lane shift detector of the Technical Design using one or more face battle array image sensings
Device is as signal collecting device, other equipment such as additional display and controller, higher cost.
Second, Image Acquisition is carried out using array image sensor in the technical solution, it, need to be with special since data volume is larger
Dsp chip carries out data processing, poor expandability.
Third, for camera using area array sensor, the data of processing are entire image, data volume in the technical solution
Greatly, cause processing speed low, image output at present can only achieve 30 frames/second.
Therefore, it is necessary to improve to the relevant technologies.
Summary of the invention
The purpose of the present invention is intended at least solve above-mentioned one of technical problem to a certain extent.
For this purpose, an object of the present invention is to provide a kind of device for detecting vehicle shift lane, the detection vehicle is inclined
The device data volume for moving lane is few, and processing speed is fast, and image output frame rate is high, and scalability is good, and at low cost.
It is another object of the present invention to propose a kind of method for detecting vehicle shift lane.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of device for detecting vehicle shift lane, should
The device for detecting vehicle shift lane includes: line scan image sensor, and the line scan image sensor is mounted on the vehicle,
The line scan image sensor is used to generate the first picture signal according to the lane line situation and lane situation of the vehicle front,
And after generating the first picture signal preset time, the is generated according to the lane line situation of the vehicle front and lane situation
Two picture signals；Processing module, the processing module are connected with the line scan image sensor, and the processing module is used for basis
The first image signal and second picture signal generate the absolute value of lane line slope, and when the lane line slope
Absolute value judges the vehicle shift lane when being greater than preset threshold, and generates vehicle shift lane information；Output module, it is described
Output module is connected with the processing module, and the output module is for exporting the vehicle shift lane information.
The embodiment of the present invention propose detection vehicle shift lane device, by line scan image sensor according to vehicle before
After the lane line situation and lane situation of side generate the first picture signal and the second picture signal, processing module is according to the first image
Signal and the second picture signal generate the absolute value of lane line slope, and when the absolute value of lane line slope is greater than preset threshold
Judge vehicle shift lane, and generate vehicle shift lane information, last output module exports vehicle shift lane information.The inspection
The device of measuring car offset lanes generates picture signal using line scan image sensor, and data volume is few, and processing speed is fast, and image is defeated
Frame per second is high out, and scalability is good, and at low cost, simple easily to realize.
In order to achieve the above objectives, another aspect of the present invention embodiment also proposed a kind of side for detecting vehicle shift lane
Method, the method in the detection vehicle shift lane is the following steps are included: line scan image sensor by being mounted on the vehicle
The first picture signal is generated according to the lane line situation of the vehicle front and lane situation, and is generating the first picture signal
After preset time, the second picture signal is generated according to the lane line situation of the vehicle front and lane situation；According to described
One picture signal and second picture signal generate the absolute value of lane line slope, and work as the absolute value of the lane line slope
The vehicle shift lane is judged when greater than preset threshold, and generates vehicle shift lane information；With the output vehicle shift
Lane information.
The embodiment of the present invention propose detection vehicle shift lane method, by line scan image sensor according to vehicle before
After the lane line situation and lane situation of side generate the first picture signal and the second picture signal, according to the first picture signal and the
Two picture signals generate the absolute value of lane line slope, and judge vehicle when the absolute value of lane line slope is greater than preset threshold
Offset lanes, and vehicle shift lane information is generated, finally export vehicle shift lane information.The detection vehicle shift lane
Method generates picture signal using line scan image sensor, and data volume is few, and processing speed is fast, and image output frame rate is high, expansible
Property it is good and at low cost, it is simple easily to realize.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the block diagram according to the device in the detection vehicle shift lane of the embodiment of the present invention；
Fig. 2 is to be illustrated according to the mechanical structure of the device in the detection vehicle shift lane of one specific embodiment of the present invention
Figure；
Fig. 3 is linear according to the lane of the vehicle front of the device in the detection vehicle shift lane of one embodiment of the invention
Schematic diagram when condition is single left-lane line；
Fig. 4 is the lane line according to the vehicle front of the device in the detection vehicle shift lane of another embodiment of the present invention
Schematic diagram when situation is single right-lane line；
It is left and right that Fig. 5, which is according to the lane line situation of the device in the detection vehicle shift lane of further embodiment of the present invention,
Schematic diagram when two-way traffic line；
Fig. 6 is the block diagram according to the device in the detection vehicle shift lane of one embodiment of the invention；
Fig. 7 be according to one embodiment of the invention detection vehicle shift lane device when vehicle front lane line
When situation is left and right two-way traffic line, the positive logic waveform voltage signal schematic diagram of the first picture signal or the second picture signal；
Fig. 8 be according to another embodiment of the present invention detection vehicle shift lane device when the lane of vehicle front
When linear condition is left and right two-way traffic line, the antilogical waveform voltage signal schematic diagram of the first picture signal or the second picture signal；
Fig. 9 is the schematic diagram according to the coordinate system of the device in the detection vehicle shift lane of one embodiment of the invention；
Figure 10 be according to one embodiment of the invention detection vehicle shift lane device third pixel unit position,
The schematic diagram of 4th pixel unit position, the 5th pixel unit position, the 6th pixel unit position；
Figure 11 is the third pixel unit position according to the device in the detection vehicle shift lane of another embodiment of the present invention
It sets, the schematic diagram of the 4th pixel unit position, the 5th pixel unit position, the 6th pixel unit position；With
Figure 12 is the flow chart according to the method in the detection vehicle shift lane of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.For letter
Change disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or letter.It is this heavy
It is for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting again.This
Outside, the present invention provides various specific techniques and material example, but those of ordinary skill in the art may be aware that
The applicable property of other techniques and/or the use of other materials.In addition, fisrt feature described below second feature it
The structure of "upper" may include the embodiment that the first and second features are formed as directly contacting, and also may include other feature shape
At the embodiment between the first and second features, such first and second feature may not be direct contact.
In the description of the present invention, it should be noted that unless otherwise specified and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
With reference to the accompanying drawings come the device in detection vehicle shift lane for describing to propose according to embodiments of the present invention and detection
The method in vehicle shift lane.
As shown in Figure 1, the device in the detection vehicle shift lane of the embodiment of the present invention include: line scan image sensor 10,
Processing module 20 and output module 30.Wherein, line scan image sensor 10 is installed on vehicle, and line scan image sensor 10 is used for
The first picture signal is generated according to the lane line situation of vehicle front and lane situation, and default generating the first picture signal
After time, the second picture signal is generated according to the lane line situation of vehicle front and lane situation.Processing module 20 and linear array figure
Picture sensor 10 is connected, and processing module 20 is used to generate the exhausted of lane line slope according to the first picture signal and the second picture signal
Vehicle shift lane is judged to value, and when the absolute value of lane line slope is greater than preset threshold, and generates vehicle shift lane
Information.Output module 30 is connected with processing module 20, and output module 30 is for exporting vehicle shift lane information.
Specifically, in one embodiment of the invention, line scan image sensor 10 may be mounted at before vehicle center or
The position of other the lane line situations for obtaining vehicle front and lane situation, the number of line scan image sensor 10 can be greater than
Or it is equal to 1.Further, Fig. 2 is the machine according to the device in the detection vehicle shift lane of one specific embodiment of the present invention
Tool structural schematic diagram.As shown in Fig. 2, the device in detection vehicle shift lane can also include optical lens 40, optical lens 40
Be connected by pedestal 50 with line scan image sensor 10, optical lens 40 be used for acquire vehicle front lane line and lane it is anti-
It penetrates light and exports to line scan image sensor 10.And then line scan image sensor 10 generates the first picture signal and the second image
Signal.As shown in Fig. 2, line scan image sensor 10, processing module 20, such as connector of output module 30 and various peripheral circuits
It can be set on circuit board 60.
Specifically, in one embodiment of the invention, as shown in Figures 3 to 5, lane line situation can be single left-lane
Line R1 or list right-lane line R2 or left and right two-way traffic line R3 and R4.Wherein, it is single left vehicle that Fig. 3, which is the lane line situation of vehicle front,
Schematic diagram when diatom R1, the schematic diagram that Fig. 4 is the lane line situation of vehicle front when being single right-lane line R2, Fig. 5 is vehicle
Schematic diagram when the lane line situation in front is left and right two-way traffic line R3 and R4.Wherein, A is body width, and W is lane width,
2a is the horizontal field of view angle of optical lens 40, and optical lens 40 acquires the lane line at vehicle front L and the reflection light in lane,
D is the distance between line scan image sensor 10 and single left-lane line R1, and C is line scan image sensor 10 and single right-lane line R2
The distance between, E is the distance between left-lane line R3 in line scan image sensor 10 and two-way traffic line, and F is linear array images biography
The distance between right-lane line R4 in sensor 10 and two-way traffic line.In another embodiment of the present invention, lane line situation is also
It may include the color etc. of lane line, lane situation may include lane color etc..
Further, in one embodiment of the invention, as shown in Figure 3 or Figure 4, when lane line situation is single left-lane
When line R1 or list right-lane line R2, processing module 20 generates lane line slope according to the first picture signal and the second picture signal
Absolute value is specifically as follows: obtain generated in the first picture signal the first pixel unit position of signal wave crest or signal trough with
As first lane line position information, and obtain the second pixel that signal wave crest or signal trough are generated in the second picture signal
Cell position according to first lane line position information and second lane line position finally to believe as second lane line position information
Breath generates the absolute value of lane line slope.Further, in another embodiment of the present invention, as shown in figure 5, working as lane line
When situation is left and right two-way traffic line R3 and R4, processing module 20 generates lane line according to the first picture signal and the second picture signal
The absolute value of slope is specifically as follows: obtaining the third pixel unit that signal wave crest or signal trough are generated in the first picture signal
Position and the 4th pixel unit position are using as first lane line position information, and obtain in the second picture signal and generate signal
The 5th pixel unit position and the 6th pixel unit position of wave crest or signal trough are using as second lane line position information, most
The absolute value of lane line slope is generated according to first lane line position information and second lane line position information afterwards.
Specifically, in one embodiment of the invention, Fig. 6 is the detection vehicle shift according to one embodiment of the invention
The block diagram of the device in lane.As shown in fig. 6, processing module 20 may include A/D sample circuit 21, processing submodule 22
With internal logic circuit 23.Wherein, A/D sample circuit 21 is connected with line scan image sensor 10, and A/D sample circuit 21 is used for
The first picture signal and the second picture signal are sampled, and A/D conversion is carried out with right to the first picture signal and the second picture signal
The first image conversion signal and the second image conversion signal should be generated.Processing submodule 22 is connected with A/D sample circuit 21, handles
Submodule 22 be used to be obtained according to the first image conversion signal the first pixel unit position for generating signal wave crest or signal trough,
Third pixel unit position, the 4th pixel unit position, and obtained in the second picture signal according to the second image conversion signal
Generate the second pixel unit position, the 5th pixel unit position, the 6th pixel unit position of signal wave crest or signal trough.It is interior
Portion's logic circuit 23 is connected with processing submodule 22 and output module 30 respectively, and internal logic circuit 23 is for recording the first pixel
Cell position, the second pixel unit position, third pixel unit position, the 4th pixel unit position, the 5th pixel unit position,
6th pixel unit position, and export to output module 30.
It should be noted that since the color of lane line and the color in lane are different, the reflection of the reflection light of lane line
Rate and the reflectivity of the reflection light in lane are also different, and therefore, the sensitivity speck of line scan image sensor 10 is according to lane line and vehicle
The first picture signal and the second picture signal that the reflection light in road generates are a line high-low voltage signal, and then linear array images pass
Sensor 10 is under the driving of master clock, and unit output is according to the corresponding voltage generated of the reflection light in lane line and lane pixel-by-pixel
Signal is to processing module 20.For example, vehicle driving, on Class I highway, the color in lane is grey, the color of lane line is white
Color, then when the lane line situation of vehicle front is left and right two-way traffic line R3 and R4, the first picture signal or the second picture signal
Positive logic waveform voltage signal as shown in fig. 7, the first picture signal or the second picture signal antilogical waveform voltage signal
As shown in Figure 8.Wherein, N is pixel unit number in line scan image sensor 10, and U is voltage, and X1 is line scan image sensor 10
The middle third pixel unit position or the 5th pixel unit position that picture signal is generated according to the reflection light of left-lane line R3, X2
For in line scan image sensor 10 according to the reflection light of right-lane line R4 generate picture signal the 4th pixel unit position or
6th pixel unit position.It can be seen from figure 7 that there is signal in the first picture signal or the second picture signal at X1 and X2
Wave crest, as can be seen from Figure 8, there is signal trough in the first picture signal or the second picture signal at X1 and X2.Therefore,
Three pixel unit positions and the 4th pixel unit position can be used as first lane line position information to reflect first lane line position
It sets, the 5th pixel unit position and the 6th pixel unit position are to reflect second lane line as second lane line position information
Position, and third pixel unit position or the 5th pixel unit position can be used as the location information of left-lane line R3 to reflect a left side
The position of lane line R3, the 4th pixel unit position or the 6th pixel unit position can be used as the location information of right-lane line R4
To reflect the position of right-lane line R4.
Specifically, in one embodiment of the invention, as shown in figure 9, line scan image sensor 10 includes N number of pixel list
Member, vehicle center are located at the pixel unit M of line scan image sensor 10, using at pixel unit M as co-ordinate zero point, vehicle driving
Direction is longitudinal axis y, and line scan image sensor 10 is horizontal axis x, establishes coordinate system.To be left and right two-way traffic line when lane line situation
When R3 and R4, processing module 20 can generate the absolute value of lane line slope according to the following formula:
| KR1 |=| (x1-x0)/(y1-y0) |=| (x1-x0)/Δ p |；
| KR2 |=| (x3-x2)/(y3-y2) |=| (x3-x2)/Δ p |
Wherein, | KR1 | it is the absolute value of left-lane line R3 slope, | KR2 | it is the absolute value of right-lane line R4 slope, Δ p
=v*t, v are the speed of vehicle, and t is preset time, and Δ p is the distance of vehicle driving in preset time t, and (x0, y0) is third
Pixel unit position, (x2, y2) are the 4th pixel unit position, and (x1, y1) is the 5th pixel unit position, and (x3, y3) is the
Six pixel unit positions.
Specifically, in one embodiment of the invention, third pixel unit position (x0, y0), the 4th pixel unit position
It sets (x2, y2), the 5th pixel unit position (x1, y1), the 6th pixel unit position (x3, y3) can be such as Figure 10 and Figure 11 institute
Show.
Further, in one embodiment of the invention, preset time t can be according to the arithmetic speed of processing module 20
Freely to set or be set according to the travel speed of vehicle.It is assumed that the speed v of vehicle is 60KM/h, i.e. in 16.7m/s, 0.1s
Vehicle driving 1.67m, for pony car, 1.67m is probably 1/3 length of wagon of vehicle, if with 1/6 length of wagon work
It is Δ p come if calculating, then preset time t is 50ms.
Further, in one embodiment of the invention, the device for detecting vehicle shift lane can also include display
Module 70 and/or alarm module 80.Wherein, display module 70 is connected with output module 30, and display module 70 is for showing vehicle
Offset lanes information.Alarm module 80 is connected with output module 30, alarm module 80 be used for according to vehicle shift lane information into
Row warning note.In one particular embodiment of the present invention, the alarm interval that alarm module 80 can be set is 30s, that is, is existed
After the continuous 30s of alarm module 80 vehicle shift lane information achieved above, carried out when obtaining vehicle shift lane information every time
Warning note.In another specific embodiment of the invention, alarm module 80 obtains always vehicle shift lane information, this
When, it is believed that vehicle driver deliberately delay unloading diatom traveling, setting the every 5s of alarm module 80 carry out a warning note.Therefore, originally
The device in the detection vehicle shift lane of inventive embodiments can be after obtaining vehicle shift lane information, according to the actual situation more
Carry out warning note promptly and accurately.
The embodiment of the present invention propose detection vehicle shift lane device, by line scan image sensor according to vehicle before
After the lane line situation and lane situation of side generate the first picture signal and the second picture signal, processing module is according to the first image
Signal and the second picture signal generate the absolute value of lane line slope, and when the absolute value of lane line slope is greater than preset threshold
Judge vehicle shift lane, and generate vehicle shift lane information, last output module exports vehicle shift lane information.The inspection
The device of measuring car offset lanes generates a line picture signal using line scan image sensor, and data volume is few, and processing speed is fast, figure
As output frame rate is high, scalability is good, at low cost, simple easily to realize, more the market competitiveness, and can progress more promptly and accurately
Warning note.
Another aspect of the present invention embodiment also proposed a kind of method for detecting vehicle shift lane, as shown in figure 12, should
Detect vehicle shift lane method the following steps are included:
S1, by the line scan image sensor that is installed on vehicle according to the lane line situation and lane situation of vehicle front
Generate the first picture signal, and after generating the first picture signal preset time, according to the lane line situation of vehicle front and
Lane situation generates the second picture signal.
In one embodiment of the invention, line scan image sensor may be mounted at before vehicle center or other obtain
The number of the lane line situation of vehicle front and the position of lane situation, line scan image sensor can be greater than or equal to 1.
It should be noted that since the color of lane line and the color in lane are different, the reflection of the reflection light of lane line
Rate and the reflectivity of the reflection light in lane are also different, and therefore, the sensitivity speck of line scan image sensor is according to lane line and lane
Reflection light generate the first picture signal and the second picture signal be a line high-low voltage signal, and then linear array images sense
Device is under the driving of master clock, and unit output is according to the corresponding voltage signal generated of the reflection light in lane line and lane pixel-by-pixel
That is the first picture signal and the second picture signal.Enter step S2.
S2 generates the absolute value of lane line slope according to the first picture signal and the second picture signal, and when lane line is oblique
The absolute value of rate judges vehicle shift lane when being greater than preset threshold, and generates vehicle shift lane information.
S3 exports vehicle shift lane information.
Further, in one embodiment of the invention, lane line situation can be single left-lane line or single right lane
Line or left and right two-way traffic line.Further, in one embodiment of the invention, when lane line situation is single left-lane line or list
When right-lane line, according to the absolute value that the first picture signal and the second picture signal generate lane line slope can specifically include with
Lower step:
S21, obtain generated in the first picture signal the first pixel unit position of signal wave crest or signal trough using as
First lane line position information.
S22, obtain generated in the second picture signal the second pixel unit position of signal wave crest or signal trough using as
Second lane line position information.
S23 generates the absolute value of lane line slope according to first lane line position information and second lane line position information.
Further, in another embodiment of the present invention, when lane line situation is left and right two-way traffic line, according to the
The absolute value that one picture signal and the second picture signal generate lane line slope can specifically include following steps:
S24 obtains the third pixel unit position and the 4th that signal wave crest or signal trough are generated in the first picture signal
Pixel unit position is using as first lane line position information.
S25 obtains the 5th pixel unit position and the 6th that signal wave crest or signal trough are generated in the second picture signal
Pixel unit position is using as second lane line position information.
S23 generates the absolute value of lane line slope according to first lane line position information and second lane line position information.
In one embodiment of the invention, line scan image sensor includes N number of pixel unit, and vehicle center is located at linear array
At the pixel unit M of imaging sensor, using, as co-ordinate zero point, vehicle heading is longitudinal axis y, linear array images at pixel unit M
Sensor 10 is horizontal axis, establishes coordinate system.To give birth to according to the following formula when lane line situation is left and right two-way traffic line
At the absolute value of lane line slope:
| KR1 |=| (x1-x0)/(y1-y0) |=| (x1-x0)/Δ p |；
| KR2 |=| (x3-x2)/(y3-y2) |=| (x3-x2)/Δ p |
Wherein, | KR1 | it is the absolute value of left-lane line slope, | KR2 | it is the absolute value of right-lane line slope, Δ p=v*
T, v are the speed of vehicle, and t is preset time, and Δ p is the distance of vehicle driving in preset time t, and (x0, y0) is third pixel
Cell position, (x2, y2) are the 4th pixel unit position, and (x1, y1) is the 5th pixel unit position, and (x3, y3) is the 6th picture
Plain cell position.
Further, in one embodiment of the invention, preset time t can be according to the arithmetic speed of processing module 20
Freely to set or be set according to the travel speed of vehicle.It is assumed that the speed v of vehicle is 60KM/h, i.e. in 16.7m/s, 0.1s
Vehicle driving 1.67m, for pony car, 1.67m is probably 1/3 length of wagon of vehicle, if with 1/6 length of wagon work
It is Δ p come if calculating, then preset time t is 50ms.
Further, in one embodiment of the invention, after exporting vehicle shift lane information, vehicle shift is detected
The method in lane can with the following steps are included:
S4 shows vehicle shift lane information.
S5 carries out warning note according to vehicle shift lane information.
Wherein, in another embodiment of the present invention, after exporting vehicle shift lane information, vehicle shift vehicle is detected
The method in road can also only include step S4 or step S5.In one particular embodiment of the present invention, it can be set between alarm
Be divided into 30s, i.e., after continuous 30s vehicle shift lane information achieved above, every time obtain vehicle shift lane information when into
Row warning note.In another specific embodiment of the invention, vehicle shift lane information is obtained always, at this time, it is believed that vehicle
Driver deliberately delays unloading diatom traveling, and every 5s is arranged and carries out a warning note.Therefore, the detection vehicle of the embodiment of the present invention
The method of offset lanes generates a line picture signal using line scan image sensor, and data volume is few, and processing speed is fast, image output
Frame per second is high, and scalability is good, at low cost, simple easily to realize, and can carry out warning note more promptly and accurately.
The embodiment of the present invention propose detection vehicle shift lane method, by line scan image sensor according to vehicle before
After the lane line situation and lane situation of side generate the first picture signal and the second picture signal, according to the first picture signal and the
Two picture signals generate the absolute value of lane line slope, and judge vehicle when the absolute value of lane line slope is greater than preset threshold
Offset lanes, and vehicle shift lane information is generated, finally export vehicle shift lane information.The detection vehicle shift lane
Method generates a line picture signal using line scan image sensor, and data volume is few, and processing speed is fast, and image output frame rate is high, can
Favorable expandability, at low cost, simple easily to realize, the more market competitiveness, and can carry out warning note more promptly and accurately.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is by appended claims and its equivalent limits.
Claims (14)
1. a kind of device for detecting vehicle shift lane characterized by comprising
Line scan image sensor, the line scan image sensor are mounted on the vehicle, and the line scan image sensor is used for
The first picture signal is generated according to the lane line situation of the vehicle front and lane situation, and is generating the first picture signal
After preset time, the second picture signal is generated according to the lane line situation of the vehicle front and lane situation；
Processing module, the processing module are connected with the line scan image sensor, and the processing module is used for according to described the
One picture signal and second picture signal generate the absolute value of lane line slope, and work as the absolute value of the lane line slope
The vehicle shift lane is judged when greater than preset threshold, and generates vehicle shift lane information；With
Output module, the output module are connected with the processing module, and the output module is for exporting the vehicle shift
Lane information.
2. device as described in claim 1, which is characterized in that the line scan image sensor is mounted on center before the vehicle
Or the position of other the lane line situations for obtaining the vehicle front and lane situation.
3. device as described in claim 1, which is characterized in that the lane line situation is single left-lane line or single right-lane line
Or left and right two-way traffic line.
4. device as claimed in claim 3, which is characterized in that when the lane line situation is single left-lane line or single right lane
When line, the processing module generates the absolute value of lane line slope according to the first image signal and second picture signal
Specifically:
It obtains and generates the first pixel unit position of signal wave crest or signal trough in the first image signal using as first
Lane line position information；
It obtains and generates the second pixel unit position of signal wave crest or signal trough in second picture signal using as second
Lane line position information；With
The exhausted of the lane line slope is generated according to the first lane line position information and the second lane line position information
To value.
5. device as claimed in claim 4, which is characterized in that described when the lane line situation is left and right two-way traffic line
Processing module generates the absolute value of lane line slope according to the first image signal and second picture signal specifically:
Obtain third pixel unit position and the 4th pixel that signal wave crest or signal trough are generated in the first image signal
Cell position is using as the first lane line position information；
Obtain the 5th pixel unit position and the 6th pixel that signal wave crest or signal trough are generated in second picture signal
Cell position is using as the second lane line position information；With
The exhausted of the lane line slope is generated according to the first lane line position information and the second lane line position information
To value.
6. device as claimed in claim 5, which is characterized in that the processing module generates the lane line according to the following formula
The absolute value of slope:
| KR1 |=| (x1-x0)/(y1-y0) |=| (x1-x0)/Δ p |；
| KR2 |=| (x3-x2)/(y3-y2) |=| (x3-x2)/Δ p |
Wherein, | KR1 | it is the absolute value of left-lane line slope, | KR2 | it is the absolute value of right-lane line slope, Δ p=v*t, v are
The speed of the vehicle, t are the preset time, and Δ p is the distance of the vehicle driving in the preset time, (x0, y0)
For third pixel unit position, (x2, y2) is the 4th pixel unit position, and (x1, y1) is the 5th pixel list
First position, (x3, y3) are the 6th pixel unit position.
7. device as described in claim 1, which is characterized in that further include:
Display module, the display module are connected with the output module, and the display module is for showing the vehicle shift
Lane information；With
Alarm module, the alarm module are connected with the output module, and the alarm module is used for according to the vehicle shift
Lane information carries out warning note.
8. a kind of method for detecting vehicle shift lane, which comprises the following steps:
By the line scan image sensor that is mounted on the vehicle according to the lane line situation and lane shape of the vehicle front
Condition generates the first picture signal, and after generating the first picture signal preset time, according to the lane line of the vehicle front
Situation and lane situation generate the second picture signal；
The absolute value of lane line slope is generated according to the first image signal and second picture signal, and works as the lane
The absolute value of line slope judges the vehicle shift lane when being greater than preset threshold, and generates vehicle shift lane information；With
Export the vehicle shift lane information.
9. method according to claim 8, which is characterized in that the line scan image sensor is mounted on center before the vehicle
Or the position of other the lane line situations for obtaining the vehicle front and lane situation.
10. method according to claim 8, which is characterized in that the lane line situation is single left-lane line or single right lane
Line or left and right two-way traffic line.
11. method as claimed in claim 10, which is characterized in that when the lane line situation is single left-lane line or single right vehicle
When diatom, the absolute value for generating lane line slope according to the first image signal and second picture signal is specifically wrapped
Include following steps:
It obtains and generates the first pixel unit position of signal wave crest or signal trough in the first image signal using as first
Lane line position information；
It obtains and generates the second pixel unit position of signal wave crest or signal trough in second picture signal using as second
Lane line position information；With
The exhausted of the lane line slope is generated according to the first lane line position information and the second lane line position information
To value.
12. method as claimed in claim 11, which is characterized in that when the lane line situation is left and right two-way traffic line, institute
It states and following step is specifically included according to the absolute value that the first image signal and second picture signal generate lane line slope
It is rapid:
Obtain third pixel unit position and the 4th pixel that signal wave crest or signal trough are generated in the first image signal
Cell position is using as the first lane line position information；
Obtain the 5th pixel unit position and the 6th pixel that signal wave crest or signal trough are generated in second picture signal
Cell position is using as the second lane line position information；With
The exhausted of the lane line slope is generated according to the first lane line position information and the second lane line position information
To value.
13. method as claimed in claim 12, which is characterized in that generate the absolute of the lane line slope according to the following formula
Value:
| KR1 |=| (x1-x0)/(y1-y0) |=| (x1-x0)/Δ p |；
| KR2 |=| (x3-x2)/(y3-y2) |=| (x3-x2)/Δ p |
Wherein, | KR1 | it is the absolute value of left-lane line slope, | KR2 | it is the absolute value of right-lane line slope, Δ p=v*t, v are
The speed of the vehicle, t are the preset time, and Δ p is the distance of the vehicle driving in the preset time, (x0, y0)
For third pixel unit position, (x2, y2) is the 4th pixel unit position, and (x1, y1) is the 5th pixel list
First position, (x3, y3) are the 6th pixel unit position.
14. method according to claim 8, which is characterized in that after exporting the vehicle shift lane information, further include with
Lower step:
Show the vehicle shift lane information；With
Warning note is carried out according to the vehicle shift lane information.
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| CN106157635B (en) * | 2016-07-22 | 2018-08-07 | 金陵科技学院 | A kind of device and judgment method judging vehicle position in track |
| CN109657686B (en) * | 2018-10-31 | 2021-04-20 | 百度在线网络技术（北京）有限公司 | Lane line generation method, apparatus, device, and storage medium |
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| CN1996194A (en) * | 2005-12-31 | 2007-07-11 | 清华大学 | Moving body positioning and rectifying system and its motion tracking method |
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| JP2012187975A (en) * | 2011-03-09 | 2012-10-04 | Denso Corp | Vehicular distinction system for vehicle rank and operation notifying sound generation system |
| CN102288121A (en) * | 2011-05-12 | 2011-12-21 | 电子科技大学 | Method for measuring and pre-warning lane departure distance based on monocular vision |
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