CN110824469B - Lane deviation detection device and deviation correction judgment method - Google Patents

Lane deviation detection device and deviation correction judgment method Download PDF

Info

Publication number
CN110824469B
CN110824469B CN202010020502.6A CN202010020502A CN110824469B CN 110824469 B CN110824469 B CN 110824469B CN 202010020502 A CN202010020502 A CN 202010020502A CN 110824469 B CN110824469 B CN 110824469B
Authority
CN
China
Prior art keywords
vehicle
detection mechanism
control system
bearing base
main control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010020502.6A
Other languages
Chinese (zh)
Other versions
CN110824469A (en
Inventor
田海霞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Top Sun Technology Co ltd
Original Assignee
Nanjing Top Sun Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Top Sun Technology Co ltd filed Critical Nanjing Top Sun Technology Co ltd
Priority to CN202010020502.6A priority Critical patent/CN110824469B/en
Publication of CN110824469A publication Critical patent/CN110824469A/en
Application granted granted Critical
Publication of CN110824469B publication Critical patent/CN110824469B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a lane deviation detection device and a deviation correction judgment method, which comprise a bearing base, a main detection mechanism, an auxiliary detection mechanism and a main control system, wherein the bearing base is a hollow cylindrical mechanism with a rectangular cross section, the rear end surface of the bearing base is connected with a vehicle body on the front end surface of a vehicle head, the front end surface of the bearing base is abutted against and distributed in parallel with the rear end surface of a vehicle bumper, the main detection mechanism and the auxiliary detection mechanism are both connected with the front end surface of the bearing base and are respectively and electrically connected with the main control system, and the main control system is embedded in a central control console of a vehicle and is electrically connected with a running computer system of. The deviation correction judging method comprises four steps of equipment hardware assembly, software driving, deviation correction judgment, data output and the like. The invention can effectively meet the requirements of various vehicle operation operations on one hand, has comprehensive detection and early warning on the other hand, can comprehensively and timely detect and alarm when the vehicle is in lane deviation from multiple angles, and simultaneously accurately calculates the deviation correction, thereby greatly improving the driving safety.

Description

Lane deviation detection device and deviation correction judgment method
Technical Field
The invention relates to a lane deviation detection device and method, and belongs to the technical field of driving monitoring.
Background
In the activity of driving vehicles, due to vehicle mechanical structure factors, natural factors, road condition factors, driver factors and other reasons, the vehicles often have lane deviation under the condition that drivers do not know, the smoothness of the running of the vehicles on each lane is influenced, and meanwhile, the vehicles are easy to collide with each other, roadblocks, pedestrians and isolation belts because the deviation of the vehicles cannot be corrected in time, so that the driving safety is seriously influenced.
In view of the current situation, a brand-new vehicle running lane deviation detection system and a corresponding detection early warning method are urgently needed to be developed so as to meet the actual use requirement.
Disclosure of Invention
The invention aims to overcome the defects and provides a lane deviation detection device and a lane deviation detection method, which have good universality, can effectively meet the requirements of various vehicle operation operations, and on the other hand, have comprehensive detection and early warning, can comprehensively and timely detect and alarm when lane deviation occurs during vehicle operation from multiple angles, and simultaneously accurately calculate the deviation correction quantity.
In order to realize the purpose, the invention is realized by the following technical scheme:
a lane deviation detection device comprises a bearing base, a main detection mechanism, an auxiliary detection mechanism and a main control system, wherein the bearing base is a hollow cylindrical mechanism with a rectangular cross section, the rear end face of the bearing base is connected with a vehicle body of the front end face of a vehicle head, the front end face of the bearing base is abutted against and distributed in parallel with the rear end face of a vehicle bumper, the main detection mechanism and the auxiliary detection mechanism are both connected with the front end face of the bearing base, the front end faces of the main detection mechanism and the auxiliary detection mechanism exceed the front end face of the vehicle bumper by 0-10 mm, the main detection mechanism and the auxiliary detection mechanism are one and are positioned at the midpoint of the front end face of the vehicle body, the axes of the main detection mechanism and the auxiliary detection mechanism form an included angle of 0-15 degrees with the horizontal plane, the auxiliary detection mechanisms are two, the axes of the vehicle body are symmetrically distributed on two sides of the front section of, and are respectively electrically connected with a master control system which is embedded in the vehicle center console and is electrically connected with a running computer system of the vehicle.
Furthermore, bear the inside at least one wiring groove and at least one wireless data communication antenna of establishing of base, wherein wireless data communication antenna and main control system electrical connection, main detection mechanism, supplementary detection mechanism and wireless data communication antenna and main control system are connected and are all inlayed in the wiring groove with the wire, and the wiring groove both ends establish sealed end cap to constitute airtight cavity structure through sealed end cap.
Further, the master control system comprises a data processing module based on an IGBT chip, a graphic accelerator based on an FPGA chip, a timing circuit module, a data communication bus module, an alarm circuit, a data serial port communication module, a wireless data communication module, a satellite positioning module, a data cache module, a driving circuit module, a torque sensor and an angle sensor, wherein the data communication bus module is respectively and electrically connected with the data processing module based on the IGBT chip, the graphic accelerator based on the FPGA chip, the timing circuit module, the alarm circuit, the data serial port communication module, the wireless data communication module, the satellite positioning module, the data cache module and the driving circuit module, the driving circuit module is respectively and electrically connected with the torque sensor, the angle sensor, a main detection mechanism and an auxiliary detection mechanism, and the angle sensors are a plurality of, the steering wheel transmission shaft and the front wheel ball joint are respectively connected, and the plurality of torque sensors are respectively connected with the front wheel ball joint hinge and the steering power-assisted system.
Further, main detection mechanism, supplementary detection mechanism all include plummer, surveillance camera head, laser rangefinder, millimeter wave range radar and revolving stage mechanism, the plummer rear end face passes through revolving stage mechanism and bears the base front end articulated, surveillance camera head inlays in the plummer front end face and with the coaxial distribution of plummer, laser rangefinder, millimeter wave range radar are all at least two, encircle plummer axis equipartition and laser rangefinder, millimeter wave range radar optical axis and surveillance camera axis parallel distribution, and mutual interval distribution between laser rangefinder, millimeter wave range radar, surveillance camera head, laser rangefinder, millimeter wave range radar and revolving stage mechanism all with the major control system electrical connection, and connect in parallel each other between each laser rangefinder, millimeter wave range radar.
Furthermore, the laser ranging device and the millimeter wave range radar are symmetrically distributed by the monitoring camera.
Furthermore, the turntable mechanism is any one of a two-dimensional turntable and a three-dimensional turntable driven by a stepping motor, the turntable mechanism is connected with the front end face of the bearing base in a sliding mode through a driving guide rail, and the driving guide rail is electrically connected with the master control system.
A deviation rectifying judgment method of a lane deviation detection device comprises the following steps:
s1, equipment hardware is assembled, namely, the bearing base, the main detection mechanism, the auxiliary detection mechanism and the main control system which form the automobile bumper are assembled with an automobile, an included angle of 0-15 degrees is formed between the optical axis of the main detection mechanism and the horizontal plane, and the focus is positioned behind the automobile bumper; the optical axis of the auxiliary detection mechanism forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, and respectively communicating addressing addresses by the main control system, namely a main detection mechanism, an auxiliary detection mechanism, a torque sensor, an angle sensor, a rotary table mechanism and a vehicle driving computer circuit;
s3, deviation rectifying judgment, wherein after the step S2 is completed, the main control system respectively drives the bearing base, the main detection mechanism and the auxiliary detection mechanism to operate under the normal operation state of the vehicle, the working positions of the main detection mechanism and the auxiliary detection mechanism are adjusted by the bearing base, and then whether the steering operation occurs during the operation of the vehicle is identified and judged through a torque sensor and an angle sensor of the main control system; the method comprises the steps that video collection is carried out on barriers at the front part of a head of a current vehicle, barriers at two sides of the head of the current vehicle and road surface conditions by monitoring cameras of a main detection mechanism and an auxiliary detection mechanism, and finally, on one hand, distance measurement is carried out on the distance between the current vehicle and the barriers at two sides of the vehicle at the front part through distance measurement, so that whether the vehicle deviates or not is judged through continuously changing the relative position ratio of the barriers at two sides of the vehicle and the two sides of the vehicle when collision accidents occur, namely, the distance between the barriers at two sides and the two sides of the vehicle is kept constant after; when the distance between the barriers on the two sides of the vehicle and the two sides of the vehicle is gradually increased or decreased, the vehicle is deviated, the increased amount or the decreased amount is the vehicle correction deviation correction amount, on the other hand, the auxiliary detection mechanism monitors the camera to perform video acquisition on the lane identification and the road edge identification on the road surface, and at the same time of video acquisition, the image recognition software system in the step S2 is used for recognizing the lane identification and the road edge identification, and then the laser ranging device and the millimeter wave ranging radar are used for detecting the distance between the lane identification and the road edge identification on the two sides of the current vehicle, namely when the distance between the lane identification and the road edge identification on the two sides of the vehicle is kept constant after measurement, the vehicle is not deviated; when the distances between the lane marks on the two sides of the vehicle, the road edge marks and the two sides of the vehicle are gradually increased or decreased, the vehicle is deviated, and the increased amount or the decreased amount is the vehicle correction deviation correction amount;
and S4, outputting data, wherein in the step S3, when the vehicle is detected to be deviated, the video information, the deviation distance measurement information and the correction information in the deviation state are processed by the main control system, and then the vehicle driving computer system outputs and gives an alarm to remind a driver of deviation correction.
Further, in S3, the obstacle is any one or more of a vehicle, a road block, a road edge, an isolation strip, and a pedestrian running on the road.
The invention has simple system structure and good universality, can effectively meet the requirements of various vehicle operation operations, has comprehensive detection and early warning, can comprehensively and timely detect and alarm when the vehicle runs and has lane deviation from a plurality of angles, and simultaneously accurately calculates the deviation correction quantity.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a master control system;
FIG. 3 is a schematic flow chart of the deviation rectifying method of the present invention.
Detailed Description
As shown in figures 1 and 2, a lane deviation detection device comprises a bearing base 1, a main detection mechanism 2, an auxiliary detection mechanism 3 and a main control system 4, wherein the bearing base 1 is a hollow cylindrical mechanism with a rectangular cross section, the rear end face of the bearing base 1 is connected with a vehicle body 5 of the front end face of a vehicle head, the front end face of the bearing base abuts against and is distributed in parallel with the rear end face of a vehicle bumper 6, the main detection mechanism 2 and the auxiliary detection mechanism 3 are both connected with the front end face of the bearing base 1, the front end faces of the main detection mechanism 2 and the auxiliary detection mechanism 3 exceed the front end face of the vehicle bumper 6 by 0-10 mm, the main detection mechanisms 2 are located at the midpoint position of the front end face of the vehicle body, the axes of the main detection mechanisms and the auxiliary detection mechanisms form an included angle of 0-15 degrees with the horizontal plane, the auxiliary detection mechanisms 3 are located at two sides of the front end face of the vehicle head, the main detection mechanism 2 and the auxiliary detection mechanism 3 are connected in parallel and are respectively electrically connected with a main control system 4, and the main control system 4 is embedded in a vehicle center console and is electrically connected with a running computer system of the vehicle.
The bearing base 1 is internally provided with at least one wiring groove 7 and at least one wireless data communication antenna 8, wherein the wireless data communication antenna 8 is electrically connected with the main control system 4, the main detection mechanism 2, the auxiliary detection mechanism 3, the wireless data communication antenna 8 and the main control system 4 are all embedded in the wiring groove 7 by connecting wires, and the two ends of the wiring groove 7 are provided with sealing plugs 9 which form a sealed cavity structure.
It is important to explain that the main control system 4 comprises a data processing module based on an IGBT chip, a graphic accelerator based on an FPGA chip, a timing circuit module, a data communication bus module, an alarm circuit, a data serial port communication module, a wireless data communication module, a satellite positioning module, a data cache module, a driving circuit module, a torque sensor and an angle sensor, wherein the data communication bus module is respectively and electrically connected with the data processing module based on the IGBT chip, the graphic accelerator based on the FPGA chip, the timing circuit module, the alarm circuit, the data serial port communication module, the wireless data communication module, the satellite positioning module, the data cache module and the driving circuit module, the driving circuit module is respectively and electrically connected with the torque sensor, the angle sensor, a main detection mechanism and an auxiliary detection mechanism, and the angle sensors are a plurality of, the steering wheel transmission shaft and the front wheel ball joint are respectively connected, and the plurality of torque sensors are respectively connected with the front wheel ball joint hinge and the steering power-assisted system.
It should be noted that the main detection mechanism 2 and the auxiliary detection mechanism 3 each include a carrier stage 101, a surveillance camera 102, a laser ranging device 103, a millimeter wave ranging radar 104 and a turntable mechanism 105, the rear end face of the carrier stage 101 is hinged to the front end of the carrier base 1 through the turntable mechanism 105, the surveillance camera 102 is embedded in the front end face of the carrier stage 101 and coaxially distributed with the carrier stage 101, at least two of the laser ranging device 103 and the millimeter wave ranging radar 104 are uniformly distributed around the axis of the carrier stage 101, the optical axes of the laser ranging device 103 and the millimeter wave ranging radar 104 are distributed in parallel with the axis of the surveillance camera 102, the laser ranging device 103 and the millimeter wave ranging radar 104 are distributed at intervals, the surveillance camera 102, the laser ranging device 103, the millimeter wave ranging radar 104 and the turntable mechanism 105 are electrically connected to the main control system 4, and each laser ranging device 103, millimeter wave ranging device 104 and the, The millimeter wave range radars 104 are connected in parallel.
Preferably, the laser ranging device 103 and the millimeter wave range radar 104 are symmetrically distributed with the monitoring camera 102, the turntable mechanism 105 is any one of a two-dimensional turntable and a three-dimensional turntable driven by a stepping motor, the turntable mechanism 105 is slidably connected with the front end face of the bearing base 1 through a driving guide rail 106, and the driving guide rail 106 is electrically connected with the main control system 4.
As shown in fig. 3, a deviation rectifying method of a lane deviation detecting device includes the following steps:
s1, equipment hardware is assembled, namely, the bearing base, the main detection mechanism, the auxiliary detection mechanism and the main control system which form the automobile bumper are assembled with an automobile, an included angle of 0-15 degrees is formed between the optical axis of the main detection mechanism and the horizontal plane, and the focus is positioned behind the automobile bumper; the optical axis of the auxiliary detection mechanism forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, and respectively communicating addressing addresses by the main control system, namely a main detection mechanism, an auxiliary detection mechanism, a torque sensor, an angle sensor, a rotary table mechanism and a vehicle driving computer circuit;
s3, performing deviation rectification judgment, after the step S2 is completed, under the normal running state of the vehicle, respectively driving the bearing base, the main detection mechanism and the auxiliary detection mechanism to run by the main control system, adjusting the working positions of the main detection mechanism and the auxiliary detection mechanism by the bearing base, then identifying and judging whether the steering operation occurs during the running of the vehicle by a torque sensor and an angle sensor of the main control system, and on the basis of not detecting the occurrence of the steering operation, detecting the distance between obstacles right in front of the head of the vehicle and on two sides of the head of the vehicle by a laser ranging device and a millimeter wave ranging radar of the main detection mechanism and the auxiliary detection mechanism on one hand; on the other hand, video acquisition is carried out on the obstacles in the front of the head of the current vehicle, the obstacles on the two sides of the current vehicle and the road surface conditions by the monitoring cameras of the main detection mechanism and the auxiliary detection mechanism, and finally, on the one hand, the distance between the current vehicle and the obstacles on the two sides of the vehicle is measured by measuring the distance, so that whether the vehicle deviates or not is judged by continuously comparing the relative positions of the obstacles on the two sides of the vehicle and the two sides of the vehicle when the collision accident happens, namely, the distance between the obstacles on the two sides and the two sides of the vehicle is kept constant after the measurement, so; when the distance between the barriers on the two sides of the vehicle and the two sides of the vehicle is gradually increased or decreased, the vehicle is deviated, the increased amount or the decreased amount is the vehicle correction deviation correction amount, on the other hand, the auxiliary detection mechanism monitors the camera to perform video acquisition on the lane identification and the road edge identification on the road surface, and at the same time of video acquisition, the image recognition software system in the step S2 is used for recognizing the lane identification and the road edge identification, and then the laser ranging device and the millimeter wave ranging radar are used for detecting the distance between the lane identification and the road edge identification on the two sides of the current vehicle, namely when the distance between the lane identification and the road edge identification on the two sides of the vehicle is kept constant after measurement, the vehicle is not deviated; when the distances between the lane marks on the two sides of the vehicle, the road edge marks and the two sides of the vehicle are gradually increased or decreased, the vehicle is deviated, and the increased amount or the decreased amount is the vehicle correction deviation correction amount;
and S4, outputting data, wherein in the step S3, when the vehicle is detected to be deviated, the video information, the deviation distance measurement information and the correction information in the deviation state are processed by the main control system, and then the vehicle driving computer system outputs and gives an alarm to remind a driver of deviation correction.
In this embodiment, in S3, the obstacle is any one or more of a vehicle, a road block, a road edge, an isolation strip, and a pedestrian running on the road.
In addition, in the running process, when the vehicle is in the operation of turning and changing lanes, the invention detects the steering angle and the torque of the vehicle through the torque sensor and the angle sensor of the main control system to preliminarily judge the steering direction and the steering angle of the vehicle, meanwhile, the main detection mechanism and the auxiliary detection mechanism of the invention are utilized to carry out synchronous detection on the vehicle, the road surface barrier and the barriers at two sides, detecting and early warning the distance between the vehicle and the obstacle in the current turning state, simultaneously comparing the steering offset of the vehicle body with the theoretical vehicle steering offset synthesized by preliminarily judging the steering direction and the steering angle of the vehicle, and when the comparison result is consistent, the vehicle has no offset phenomenon, when the comparison results are inconsistent, the lane deviation conditions that the vehicle sideslips, swings and the like seriously affect the running safety of the vehicle are shown to occur in the steering process of the vehicle.
Based on the above, the system of the invention has simple structure and good universality, can effectively meet the requirements of various vehicle operation operations, has comprehensive detection and early warning, can comprehensively and timely detect and alarm when the vehicle is in lane deviation from multiple angles, and simultaneously accurately calculates the deviation correction, thereby greatly improving the driving safety.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (2)

1. A deviation rectifying judgment method according to a lane deviation detection device is characterized in that: the lane deviation detection device comprises a bearing base, a main detection mechanism, an auxiliary detection mechanism and a main control system, wherein the bearing base is a hollow cylindrical mechanism with a rectangular cross section, the rear end face of the bearing base is connected with a vehicle body of the front end face of a vehicle head, the front end face of the bearing base is abutted against and distributed in parallel with the rear end face of a vehicle bumper, the main detection mechanism and the auxiliary detection mechanism are both connected with the front end face of the bearing base, the front end faces of the main detection mechanism and the auxiliary detection mechanism exceed the front end face of the vehicle bumper by 0-10 mm, the main detection mechanism and the auxiliary detection mechanism are one and are positioned at the midpoint of the front end face of the vehicle body, the axes of the main detection mechanism and the auxiliary detection mechanism form an included angle of 0-15 degrees with the horizontal plane, the auxiliary detection mechanisms are two and are symmetrically distributed on two sides of the front end face of the vehicle body, the axes of the, the main control system is embedded in a vehicle console and electrically connected with a running computer system of the vehicle, at least one wiring groove and at least one wireless data communication antenna are arranged in the bearing base, the wireless data communication antenna is electrically connected with the main control system, the main detection mechanism, the auxiliary detection mechanism, the wireless data communication antenna and the main control system are all embedded in the wiring groove by wires for connection, sealing plugs are arranged at two ends of the wiring groove, a sealed cavity structure is formed by the sealing plugs, the main control system comprises a data processing module based on an IGBT (insulated gate bipolar transistor) chip, a graphic accelerator based on an FPGA (field programmable gate array) chip, a timing circuit module, a data communication bus module, an alarm circuit, a data serial communication module, a wireless data communication module, a satellite positioning module, a data cache module, a driving circuit module, a power supply, The device comprises a torque sensor and an angle sensor, wherein the data communication bus module is respectively electrically connected with a data processing module based on an IGBT chip, a graphic accelerator based on an FPGA chip, a timing circuit module, an alarm circuit, a data serial port communication module, a wireless data communication module, a satellite positioning module, a data cache module and a driving circuit module, the driving circuit module is respectively electrically connected with the torque sensor, the angle sensor, a main detection mechanism and an auxiliary detection mechanism, the angle sensors are respectively connected with a steering wheel transmission shaft and a vehicle front wheel ball joint hinge, the torque sensors are respectively connected with a vehicle front wheel ball joint hinge and a steering power-assisted system, the main detection mechanism and the auxiliary detection mechanism respectively comprise a bearing platform, a monitoring camera, a laser ranging device, a millimeter wave ranging radar and a turntable mechanism, the rear end face of the bearing platform is hinged with the front end of the bearing base through a turntable mechanism, the monitoring cameras are embedded in the front end face of the bearing platform and are coaxially distributed with the bearing platform, at least two laser distance measuring devices and at least two millimeter wave distance measuring radars are uniformly distributed around the axis of the bearing platform, the optical axes of the laser distance measuring devices and the millimeter wave distance measuring radars are distributed in parallel, the laser distance measuring devices and the millimeter wave distance measuring radars are distributed at intervals, the monitoring cameras, the laser distance measuring devices, the millimeter wave distance measuring radars and the turntable mechanism are electrically connected with a master control system, the laser distance measuring devices and the millimeter wave distance measuring radars are mutually connected in parallel, the laser distance measuring devices and the millimeter wave distance measuring radars are symmetrically distributed by the monitoring cameras, the turntable mechanism is any one of a two-dimensional turntable and a three-dimensional turntable driven by a stepping motor, and the turntable mechanism is connected with the front end face of the bearing base, the driving guide rail is electrically connected with the main control system;
the deviation rectifying judgment method comprises the following steps:
s1, equipment hardware is assembled, namely, the bearing base, the main detection mechanism, the auxiliary detection mechanism and the main control system are assembled with the vehicle, an included angle of 0-15 degrees is formed between the optical axis of the main detection mechanism and the horizontal plane, and the focus is positioned behind a bumper of the vehicle; the optical axis of the auxiliary detection mechanism forms an included angle of 0-60 degrees with the horizontal plane, and the focus is positioned on the outer side of the vehicle body and is at least 10 cm away from the outer side of the vehicle body;
s2, driving by software, after the step S1 is completed, recording an image recognition software system and a hardware driving software system in a data processing module of the main control system based on the IGBT chip, wherein the main control system is used as a main detection mechanism, an auxiliary detection mechanism, a torque sensor, an angle sensor, a rotary table mechanism and a vehicle traveling computer circuit to address addresses respectively;
s3, deviation rectifying judgment, wherein after the step S2 is completed, the main control system respectively drives the bearing base, the main detection mechanism and the auxiliary detection mechanism to operate under the normal operation state of the vehicle, the working positions of the main detection mechanism and the auxiliary detection mechanism are adjusted by the bearing base, and then whether the steering operation occurs during the operation of the vehicle is identified and judged through a torque sensor and an angle sensor of the main control system; the method comprises the steps that video collection is carried out on barriers at the front part of a head of a current vehicle, barriers at two sides of the head of the current vehicle and road surface conditions by monitoring cameras of a main detection mechanism and an auxiliary detection mechanism, and finally, on one hand, distance measurement is carried out on the distance between the current vehicle and the barriers at two sides of the vehicle at the front part through distance measurement, so that whether the vehicle deviates or not is judged through continuously changing the relative position ratio of the barriers at two sides of the vehicle and the two sides of the vehicle when collision accidents occur, namely, the distance between the barriers at two sides and the two sides of the vehicle is kept constant after; when the distance between the barriers on the two sides of the vehicle and the two sides of the vehicle is gradually increased or decreased, the vehicle is deviated, the increased amount or the decreased amount is the vehicle correction deviation correction amount, on the other hand, the auxiliary detection mechanism monitors the camera to perform video acquisition on the lane identification and the road edge identification on the road surface, and at the same time of video acquisition, the image recognition software system in the step S2 is used for recognizing the lane identification and the road edge identification, and then the laser ranging device and the millimeter wave ranging radar are used for detecting the distance between the lane identification and the road edge identification and the two sides of the current vehicle, namely when the distance between the lane identification and the road edge identification on the two sides and the two sides of the vehicle is kept constant after measurement, the vehicle is not deviated; when the distances between the lane marks on the two sides of the vehicle, the road edge marks and the two sides of the vehicle are gradually increased or decreased, the vehicle is deviated, and the increased amount or the decreased amount is the vehicle correction deviation correction amount;
and S4, outputting data, wherein in the step S3, when the vehicle is detected to be deviated, the video information, the deviation distance measurement information and the correction information in the deviation state are processed by the main control system, and then the vehicle driving computer system outputs and gives an alarm to remind a driver of deviation correction.
2. The lane deviation detecting device-based deviation correction determining method according to claim 1, wherein: in S3, the obstacle is any one or more of a vehicle, a road block, a road edge, an isolation belt and a pedestrian running on the road.
CN202010020502.6A 2020-01-09 2020-01-09 Lane deviation detection device and deviation correction judgment method Active CN110824469B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010020502.6A CN110824469B (en) 2020-01-09 2020-01-09 Lane deviation detection device and deviation correction judgment method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010020502.6A CN110824469B (en) 2020-01-09 2020-01-09 Lane deviation detection device and deviation correction judgment method

Publications (2)

Publication Number Publication Date
CN110824469A CN110824469A (en) 2020-02-21
CN110824469B true CN110824469B (en) 2020-05-05

Family

ID=69546518

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010020502.6A Active CN110824469B (en) 2020-01-09 2020-01-09 Lane deviation detection device and deviation correction judgment method

Country Status (1)

Country Link
CN (1) CN110824469B (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101778753A (en) * 2007-08-15 2010-07-14 沃尔沃技术公司 Operating method and system for supporting lane keeping of a vehicle
CN101844542A (en) * 2008-09-10 2010-09-29 财团法人交大思源基金会 Intelligent driving assistant systems
CN103718061A (en) * 2011-06-22 2014-04-09 罗伯特·博世有限公司 Improved driver assistance systems using radar and video
CN106515582A (en) * 2016-10-26 2017-03-22 深圳市元征科技股份有限公司 Safe driving early warning method and device
JP2018092483A (en) * 2016-12-06 2018-06-14 トヨタ自動車株式会社 Object recognition device
CN108571946A (en) * 2017-03-14 2018-09-25 德尔福技术公司 The detector device of displacement multi-dimension array including detector element
CN109747537A (en) * 2019-01-25 2019-05-14 温州大学 A kind of unmanned early warning system of automobile

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101778753A (en) * 2007-08-15 2010-07-14 沃尔沃技术公司 Operating method and system for supporting lane keeping of a vehicle
CN101844542A (en) * 2008-09-10 2010-09-29 财团法人交大思源基金会 Intelligent driving assistant systems
CN103718061A (en) * 2011-06-22 2014-04-09 罗伯特·博世有限公司 Improved driver assistance systems using radar and video
CN106515582A (en) * 2016-10-26 2017-03-22 深圳市元征科技股份有限公司 Safe driving early warning method and device
JP2018092483A (en) * 2016-12-06 2018-06-14 トヨタ自動車株式会社 Object recognition device
CN108571946A (en) * 2017-03-14 2018-09-25 德尔福技术公司 The detector device of displacement multi-dimension array including detector element
CN109747537A (en) * 2019-01-25 2019-05-14 温州大学 A kind of unmanned early warning system of automobile

Also Published As

Publication number Publication date
CN110824469A (en) 2020-02-21

Similar Documents

Publication Publication Date Title
CN106909152B (en) Automobile-used environmental perception system and car
CN110488319B (en) Ultrasonic wave and camera fusion-based collision distance calculation method and system
JP2900737B2 (en) Inter-vehicle distance detection device
CN106340197B (en) Vehicle-road cooperative driving assisting system and method
CN211765500U (en) Intelligent driving environment sensing system used in closed scene and automobile
CN109975035B (en) Whole-vehicle-level in-loop test bench system of L3-level automatic driving vehicle
CN108928343A (en) A kind of panorama fusion automated parking system and method
CN106448190B (en) Real-time monitoring and early warning device and method for traffic flow around self-vehicle on highway
CN105699985A (en) Single-line laser radar device
CN108986510A (en) A kind of local dynamic map of intelligence towards crossing realizes system and implementation method
CN210882093U (en) Automatic driving vehicle environment perception system and automatic driving vehicle
CN107650906B (en) Intelligent parking system and control method thereof
CN109910955B (en) Rail transit tunnel barrier detection system and method based on transponder information transmission
Gern et al. Robust vehicle tracking fusing radar and vision
CN209852236U (en) Environment sensing device for unmanned truck
CN106740838A (en) A kind of vehicle risk early warning system
CN111487964A (en) Robot trolley and autonomous obstacle avoidance method and device thereof
CN112977541A (en) Train protection early warning system based on multi-technology fusion
CN210502571U (en) Vehicle environment perception system
CN110824469B (en) Lane deviation detection device and deviation correction judgment method
CN111016859B (en) Vehicle emergency brake protection system and method
CN114964058A (en) Trailer deflection angle measuring method
EP3882663A1 (en) Spatial and temporal processing of ultrasonic-sensor detections for mapping in vehicle-parking-assist functions
CN210038149U (en) Vehicle multi-sensor data acquisition system
CN111028544A (en) Pedestrian early warning system with V2V technology and vehicle-mounted multi-sensor integration

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant