CN202413787U - Prewarning control system for automobile lane deviation - Google Patents
Prewarning control system for automobile lane deviation Download PDFInfo
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- CN202413787U CN202413787U CN2011205159482U CN201120515948U CN202413787U CN 202413787 U CN202413787 U CN 202413787U CN 2011205159482 U CN2011205159482 U CN 2011205159482U CN 201120515948 U CN201120515948 U CN 201120515948U CN 202413787 U CN202413787 U CN 202413787U
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Abstract
The utility model discloses a prewarning control system for automobile lane deviation, which comprises a controller and a video camera connected with the controller, wherein the controller comprises a communication module, an image processing module and a signal processing module connected with the communication module and the image processing module. Lane images on the left and right sides of the automobile are acquired in real time, characteristic information in the images is extracted, and the corresponding judgment is made according to the deviation amount and turning amount of the automobile, and a prewarning prompt is output, so that the tired or scatterbrained driver can get back to normal drive, thereby avoiding the occurrence of the corresponding automobile safety accident. Compared with the prior art, the prewarning system disclosed by the utility model is free from the influence of environment and the like, and ensures the reliability and real-time performance of the lane deviation prewarning.
Description
Technical field
The utility model belongs to automobile early warning control technology field, is specifically related to a kind of pre-alarming control system that is used for the automobile deviation.
Background technology
The driving of existing vehicle all is to depend on controlling of chaufeur.Under long-distance scorch situation, chaufeur is prone to drowsiness, fatigue, absent minded, can cause slowly run-off-road of vehicle accidentally, thereby causes traffic accident; According to statistics, there have 44% car accedent and vehicle to depart from normal lanes approximately to be relevant; Especially on the highway of high-speed grade, in case the vehicle run-off-road, the harm order of severity that its accident caused is very large.
Current, the light of road separation line reflection is gathered by the lane departure warning system through optical inductor mostly, calculates the distance in car and track, judge whether the vehicle that chaufeur is driven has departed from the track in going, and then early warning is reminded.But this type forewarn system only is applicable under the comparatively desirable situation of external environment that for abominable illumination condition, the susceptibility that optical inductor is gathered light is not high, can't guarantee the reliability of judging; The information of such forewarn system mono-dependence car and track distance makes the degree of reliability of judging early warning also be restricted as basis for estimation simultaneously.
Summary of the invention
To the above-mentioned technological deficiency of existing in prior technology, the utility model provides a kind of pre-alarming control system that is used for the automobile deviation, has guaranteed the reliability and the real-time of lane departure warning.
A kind of pre-alarming control system that is used for the automobile deviation comprises: controller;
Link to each other with controller and be used for gathering in real time the pick up camera of vehicle right and left both sides carriageway image;
Described controller comprises:
Communication module is used to receive the turn sign that the motor turning controller provides, and turn sign is converted to behind the steering volume of automobile and output;
Image processing module is used for described carriageway image is carried out image processing, from image, extracts the range information of car and both sides lane mark, and exports the bias of automobile according to range information;
Signal processing module is used for according to described steering volume and bias, after judging, sends early warning signal through communication module to on-vehicle host; On-vehicle host is passed through the loudspeaker plays caution sound according to described early warning signal.
Described signal processing module is MCU (microprocessor unit).
In the optimized technical scheme, described communication module is passed through CAN (Controller Area Network, controller local area network) bus and motor turning controller and on-vehicle host and is communicated; Signaling rate is fast, and is real-time.
The utility model is through gather the carriageway image of vehicle right and left both sides in real time; Extract the characteristic information in the image; Bias and steering volume according to automobile; Carry out corresponding judgment, the output early warning makes and is in tired or scatterbrained chaufeur can return normal driving, avoids the generation of corresponding automotive safety accident; And the pre-alarming control system of the utility model does not receive the influence of factors such as environment with respect to prior art, has guaranteed the reliability and the real-time of lane departure warning.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the flowchart of signal processing module.
The specific embodiment
In order to describe the utility model more particularly, be elaborated below in conjunction with accompanying drawing and the specific embodiment technical scheme to the utility model.
As shown in Figure 1, a kind of pre-alarming control system that is used for the automobile deviation comprises: controller and the left pick up camera and the right pick up camera that are attached thereto.
Left and right cameras is gathered the carriageway image of vehicle right and left both sides respectively in real time; It adopts the safe M-3318A-1 series of products of remittance.
Controller comprises: communication module, image processing module and MCU.
Communication module communicates through CAN bus and motor turning controller, and obtains the turn sign that the motor turning controller provides, and wherein turn sign is a differential signal, and communication module offers MCU after can converting this signal into digital signal (steering volume S).
The cooresponding three kinds of pole changer states of turn sign are respectively left-hand rotation, close and turn right, and steering volume S is respectively-1,0 and 1 (correspondence markings is N, Z and P).
Image processing module links to each other with left and right cameras, and it carries out image processing, feature extraction and calculating to the carriageway image that left and right cameras collects.Image processing module can calculate the distance of car and both sides lane mark according to parameters such as the inside and outside parameter of pick up camera and focal lengths, and then determines the bias L of automobile according to distance, and offers MCU.
With a certain highway section is example, and automobile is in center, this track, highway section, and then the vehicle right and left both sides are 280cm with the distance of left and right sides lane mark respectively, and this moment, the bias of automobile was 0 (correspondence markings is ZO);
If the automobile left side with the distance of left-lane line is:
0～40cm, then the bias of automobile is-7 (correspondence markings is NB);
40～80cm, then the bias of automobile is-6 (correspondence markings is NB);
80～120cm, then the bias of automobile is-5 (correspondence markings is NM);
120～160cm, then the bias of automobile is-4 (correspondence markings is NM);
160～200cm, then the bias of automobile is-3 (correspondence markings is NS);
200～240cm, then the bias of automobile is-2 (correspondence markings is NS);
240～280cm, then the bias of automobile is-1 (correspondence markings is ZO);
If the distance of automobile right side and right lane line is:
0～40cm, then the bias of automobile is 7 (correspondence markings is PB);
40～80cm, then the bias of automobile is 6 (correspondence markings is PB);
80～120cm, then the bias of automobile is 5 (correspondence markings is PM);
120～160cm, then the bias of automobile is 4 (correspondence markings is PM);
160～200cm, then the bias of automobile is 3 (correspondence markings is PS);
200～240cm, then the bias of automobile is 2 (correspondence markings is PS);
240～280cm, then the bias of automobile is 1 (correspondence markings is ZO).
MCU links to each other with image processing module with communication module, and it sends early warning signal through communication module to on-vehicle host according to steering volume S and bias L after judging; Wherein, MCU is a digital signal to the early warning signal that communication module transmits, and communication module sends to on-vehicle host through the CAN bus after can converting this signal into differential signal, and on-vehicle host is then passed through the loudspeaker plays caution sound according to early warning signal.In the present embodiment, MCU adopts the STM32F103 series of products of ST company.
MCU judges the output early warning signal according to table 1, and wherein, the digital quantity of early warning signal is that lane departure warning (broadcast caution sound) is opened in 1 expression, and digital quantity is that lane departure warning (not playing caution sound) is closed in 0 expression.
Table 1: early warning signal and cooresponding steering volume S and bias L
As shown in Figure 2, MCU judges at first whether steering volume S equals N:
If judge then whether bias L equals PM or PB: be then to open lane departure warning; , then do not close lane departure warning;
If not, judge then whether steering volume S equals P:
Be to judge then whether bias L equals NM or NB: if then open lane departure warning; Then close lane departure warning if not;
, do not represent that then steering volume S equals Z.
S equals Z when steering volume, judges whether bias L equals NM or NB earlier:
If then open lane departure warning;
If not, judge then whether bias L equals PM or PB: be then to open lane departure warning; , then do not close lane departure warning.
This embodiment is through gather the carriageway image of vehicle right and left both sides in real time; Extract the characteristic information in the image; Bias and steering volume according to automobile; Carry out corresponding judgment, the output early warning makes and is in tired or scatterbrained chaufeur can return normal driving, avoids the generation of corresponding automotive safety accident; And the pre-alarming control system of this embodiment does not receive the influence of factors such as environment with respect to prior art, has guaranteed the reliability and the real-time of lane departure warning.
Claims (3)
1. a pre-alarming control system that is used for the automobile deviation is characterized in that, comprising: controller;
Link to each other with controller and be used for gathering in real time the pick up camera of vehicle right and left both sides carriageway image;
Described controller comprises:
Communication module receives the turn sign that the motor turning controller provides, the steering volume of output automobile;
Image processing module receives described carriageway image, the bias of output automobile;
Signal processing module receives described steering volume and bias, and sends early warning signal through communication module to on-vehicle host.
2. the pre-alarming control system that is used for the automobile deviation according to claim 1 is characterized in that: described communication module communicates through CAN bus and motor turning controller and on-vehicle host.
3. the pre-alarming control system that is used for the automobile deviation according to claim 1 and 2 is characterized in that: described signal processing module is MCU.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205159482U CN202413787U (en) | 2011-12-12 | 2011-12-12 | Prewarning control system for automobile lane deviation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205159482U CN202413787U (en) | 2011-12-12 | 2011-12-12 | Prewarning control system for automobile lane deviation |
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| CN202413787U true CN202413787U (en) | 2012-09-05 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103465828A (en) * | 2013-05-21 | 2013-12-25 | 麦特汽车服务股份有限公司 | Automobile steering early warning method and vehicle-mounted intelligent terminal device thereof |
| CN103832357A (en) * | 2012-11-23 | 2014-06-04 | 深圳华一汽车科技有限公司 | Lane departure warning system and method based on machine vision |
| CN104112118A (en) * | 2014-06-26 | 2014-10-22 | 大连民族学院 | Lane departure early-warning system-based lane line detection method |
| CN107719368A (en) * | 2017-09-20 | 2018-02-23 | 杭州奥腾电子股份有限公司 | A kind of Lane Departure Warning System and its control method |
| CN108025747A (en) * | 2015-09-21 | 2018-05-11 | 福特全球技术公司 | The track of enhancing passes through |
| CN108859951A (en) * | 2018-05-18 | 2018-11-23 | 武汉理工大学 | A kind of steering early warning system of automotive steering |
-
2011
- 2011-12-12 CN CN2011205159482U patent/CN202413787U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103832357A (en) * | 2012-11-23 | 2014-06-04 | 深圳华一汽车科技有限公司 | Lane departure warning system and method based on machine vision |
| CN103832357B (en) * | 2012-11-23 | 2017-10-13 | 深圳华一汽车科技有限公司 | A kind of lane-departure warning system and method based on machine vision |
| CN103465828A (en) * | 2013-05-21 | 2013-12-25 | 麦特汽车服务股份有限公司 | Automobile steering early warning method and vehicle-mounted intelligent terminal device thereof |
| CN104112118A (en) * | 2014-06-26 | 2014-10-22 | 大连民族学院 | Lane departure early-warning system-based lane line detection method |
| CN104112118B (en) * | 2014-06-26 | 2017-09-05 | 大连民族学院 | Method for detecting lane lines for Lane Departure Warning System |
| CN108025747A (en) * | 2015-09-21 | 2018-05-11 | 福特全球技术公司 | The track of enhancing passes through |
| CN107719368A (en) * | 2017-09-20 | 2018-02-23 | 杭州奥腾电子股份有限公司 | A kind of Lane Departure Warning System and its control method |
| CN108859951A (en) * | 2018-05-18 | 2018-11-23 | 武汉理工大学 | A kind of steering early warning system of automotive steering |
| CN108859951B (en) * | 2018-05-18 | 2021-08-03 | 武汉理工大学 | Steering early warning system of automobile steering system |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20181212 |