CN102303609A - System and method for prewarning lane deviation - Google Patents
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Abstract
The invention relates to a system and a method for prewarning lane deviation. The system comprises a pickup unit, a lane line identification unit, a deviation detection unit, and a prewarning unit which are electrically connected, wherein the pickup unit is used for receiving and transmitting a road condition signal; the lane line identification unit is connected with the pickup unit, receives the road condition signal and performs Hough conversion on the signals to identify the lane line; the deviation detection unit is connected with the lane line identification unit and calculates the distance between the identified lane line and a vehicle body, and sends a prewarning command when the distance is greater than a preset threshold value; and the prewarning unit is connected with the deviation detection unit, receives the prewarning command and sends the corresponding prewarning signal. The method comprises the following steps of: calibrating the pickup unit, setting an effective area, performing edge detection, finding the lane line to judge whether the lane line is deviated and sending the prewarning signal.
Description
[technical field]
The present invention relates to a kind of driveway deviation alarming system.
[technical background]
Present deviation accident that causes under the situation that chaufeur is not concentrated because of carelessness, tired, drowsiness or state and the rear-end collision accident 60%-70% that accounts for whole road traffic accident, death toll accounts for 70%.Estimation according to Bureau of Public Road; System of leading vehicle distance with can detect vehicle operating time of the system of the horizontal position when utilization can detect vehicle operating can reduce the generation of these traffic accidents greatly; Therefore, the research of lane departure warning and anti-front truck collision system has caused the great attention that each is national.
Both at home and abroad the deviation system based on machine vision mainly contains following several method: based on the Feature Recognition method, based on the recognition methods of model, based on the method for vision and other sensor fusion etc.Based on the Feature Recognition method is from the sequence gray level image of vehicle front, utilizes the gray feature of road boundary and Lane Mark and the identification to road boundary and Lane Mark accomplished; Mainly being based on different road image models based on the recognition methods of model adopts different recognition technologies to come road boundary and Lane Mark are discerned; Through merging the road information that multisensor perceives, utilize multiple characteristics of image that road is discerned based on the method for vision and other sensor fusion.At present, some country successfully develops the lane-departure warning system that some differ from one another in the world, as: Mobileye_AWS system, AutoVue system, GOLD system, NavLab system etc.These systems remind chaufeur to take correct operation measure through giving chaufeur with warning message in advance, reach the purpose that prevents this type accident or reduce the extent of injury of this type accident.
Yet because road environment is complicated, vehicle class is various, and lane departure warning and front truck anti-collision early warning system not only will have good real time performance, but also stronger robustness will be arranged.And existing systems can't well satisfy the requirement of these aspects, the present invention proposes a kind of system that better real-time and robustness are arranged.
[summary of the invention]
To the problems referred to above, the present invention proposes a kind of lane departure warning system, is mainly used in to prevent that moving traffic generation deviation, said system from comprising electrical connection
Image unit is used for receiving and transmitting the road conditions picture signal;
The lane mark diagnosis unit are connected with said image unit, receive said road conditions picture signal, and said signal is carried out canny rim detection and Hough conversion, with the identification lane mark;
Offset detection unit is connected with said lane mark diagnosis unit, according to the lane mark that identifies, calculates the distance between itself and the car body, when said distance surpasses pre-set threshold value, sends alarm command;
Prewarning unit is connected with offset detection unit, receives said alarm command, and sends corresponding early warning signal.
The present invention proposes a kind of method that realizes lane departure warning simultaneously, said method comprising the steps of:
Step 1 is demarcated image unit, to receive and to transmit the road conditions picture signal;
Step 2 is provided with the service area of inspection vehicle diatom according to vehicle running state, and the area of said service area is greater than the area of actual lane mark in image; The service area scope according to whether having detected lane mark this moment is set: if detected lane mark this moment; The image unit of demarcating according to step 1 so; And confirm the service area according to the track of Chinese road this empirical value of size, as long as this section zone comprises detected lane mark; If do not detect lane mark, the situation of vehicle line ball perhaps takes place, the service area of this moment is an entire image.Can remove most inactive area after being provided with the service area, improve the real-time of algorithm;
Picture signal in the step 3 pair service area is carried out the canny rim detection, obtains binary image;
Step 4 utilizes the image after the binaryzation to carry out the Hough conversion, searches and mates lane mark;
Step 5 is asked for the distance between car body and the said lane mark according to detected lane mark, and judges whether to send alarm command;
Said step 4 further may further comprise the steps:
Step 41 detects the current motoring condition of vehicle;
Step 42 is searched the lane mark parameter that satisfies certain constraint condition;
Step 43 is confirmed lane mark according to the lane mark parameter;
Wherein the constraint condition described in the step 42 is: (&& of thetaTh1＜Theta＜thetaTh2) (abs (Theta-PreTheta)＜DeltaThetaTh) && (abs (Distance-PreDistance)＜DeltaDisTh),
Wherein: after Theta and Rho are the Hough conversion, the straight line parameter in the corresponding Hough of the current lane mark space, thetaTh1 and thetaTh2 are the scopes of lane mark angle Theta, PreTheta is the angle of the effective wagon diatom in the previous frame; DeltaThetaTh is the change threshold at two continuous frames middle lane wire clamp angle; Distance and PreDistance are respectively current lane mark and the X coordinate figure of previous frame lane mark on the bottom water horizontal line, and DeltaDisTh is the change threshold of two lane mark distances in the middle of two frames of front and back.
When normal vehicle operation, when calculating the lane mark parameter of a side wherein, said thetaTh1 can be the positive integer between the 30-60, and thetaTh2 is 90; When calculating the lane mark parameter of opposite side, said thetaTh1 is-negative integer between the 60--30, and thetaTh2 is-90.When vehicle departed from, when calculating the lane mark parameter of a side wherein, said thetaTh1 can be the positive integer between the 10-30, and thetaTh2 is the positive integer between the 60-80; When calculating the lane mark parameter of opposite side, said thetaTh1 is-negative integer between the 30--10, and thetaTh2 is-80--60.
When vehicle departs from, to carry out the middle lane line and detect, the scope of said Theta is between the 70-90.
The present invention designs distinctive lane mark diagnosis unit and carries out lane identification through behind the Hough spatial alternation, has realized a kind of system that better real-time and robustness are arranged effectively.
[description of drawings]
Fig. 1 is that lane departure warning of the present invention system connects scheme drawing;
Fig. 2 is two lane mark service area scheme drawings of the present invention;
Fig. 3 is three lane mark service area scheme drawings of the present invention;
Fig. 4 is an early warning diagram of circuit of the present invention;
Fig. 5 is system's connection diagram of another embodiment of the present invention;
Fig. 6 is the hardware connecting circuit figure of invention;
Accompanying drawing mainly is designated:
Image unit 1, lane mark diagnosis unit 2, offset detection unit 3, prewarning unit 4, display unit 5, control unit 6, memory cell 7, system power supply 8, service area 9, lane mark 10.
[specific embodiment]
Referring to Fig. 1-3, the present invention proposes a kind of lane departure warning system, is mainly used in and prevents that moving traffic generation deviation, said system from comprising image unit 1, lane mark diagnosis unit 2, offset detection unit 3 and the prewarning unit 4 of electrical connection.
Image unit 1 can place Vehicular body front, like windshield or automobile instrument panel place, is used to shoot with video-corder car body the place ahead road conditions image.Image unit 1 can comprise camera 11 and video conversion chip 12.
Lane mark diagnosis unit 2 are connected with said image unit 1, receive said road conditions signal, and said signal is carried out the Hough conversion, with identification lane mark 10.For improving the speed of signal conditioning, during inspection vehicle diatom 10, can suppose that lane mark 10 for straight line model, makes full use of lane mark width, lane mark gray scale than characteristics such as road surface gray value are big, effectively improve system robustness and real-time.
Offset detection unit 3; Be connected with said lane mark diagnosis unit 2,, judge whether to have taken place deviation through the distance between car body midway location and the lane mark 10 according to the lane mark 10 that identifies; When said distance surpasses pre-set threshold value, send alarm command.
Prewarning unit 4 is connected with offset detection unit 3, receives said alarm command, and sends corresponding early warning signal.Prewarning unit 4 can comprise audio frequency processing circuit 41 and the loud speaker 42 that is attached thereto.
The present invention also proposes a kind of method that realizes lane departure warning, said method comprising the steps of:
Step 1 is demarcated image unit 1, to receive and to transmit the road conditions signal.The purpose that image unit 1 is demarcated mainly is the inside and outside parameter for the camera of asking, and calculates car body to the true altitude of distance between distance, car body and the front vehicles of left and right sides lane mark and calculating vehicle and width etc. with these parameters.The method comparative maturity of camera calibration, and have a large amount of documents that it has been carried out deep explanation, institute is so that introduce no longer in detail.
Step 2 is provided with the service area 9 of inspection vehicle diatom 10 according to vehicle running state.If this moment normal vehicle operation; And this moment, (continuous several frames all detect lane mark 10) stablized in the detection of lane mark 10; Wide each 10 pixel in the left and right sides, frame detected lane mark 10 top before the service area 9 of lane mark 10 is set to so; A trapezoid area of wide each 15 pixel in the left and right sides, bottom is like the zone of being demarcated among Fig. 29.If we think that lane mark 10 is approximately straight line, lane mark 10 can be expressed as so:
y＝k*x+b
Under the situation of the ordinate up and down of known area-of-interest, can calculate 4 summits of trapezoid area, thereby confirm this service area.Depart from state if lane mark 10 is in, and the detection of lane mark 10 is stablized at this moment, the service area 9 of lane mark 10 is the trapezoid areas that three lane maries are confirmed respectively, and as shown in Figure 3, method to set up is the same.If the detection of lane mark 10 is unstable, the service area 9 of lane mark 10 is set to picture in its entirety.
No specified otherwise below all will be carried out in this service area about the operation of lane mark 10.
Step 3 is carried out canny rim detection with good conditionsi in service area 9, obtain binary image.Lane mark 10 has following inherent feature:
I, the main color of Lane Mark are white or yellow;
Though ii is because the influence of perspective transform, the width of lane mark 10 in image is different, and lane mark 10 still has certain width in image;
Iii, lane mark 10 gray values are greater than the ground-surface gray value;
Iv, lane mark 10 are made up of track continuous or that be interrupted sign, can suppose that to a certain extent lane mark 10 is continuous;
V, lane mark 10 can be similar to by straight line and describe: generally speaking, highway bend curvature is less, in the vehicle front scope, lane mark 10 can be treated as straight line.
When lane mark detects, can utilize the inherent feature of above-mentioned lane mark 10, remove the point that does not belong to lane mark 10 edges, can not only improve the accuracy of lane mark identification, and improve the real-time of system greatly.
When detecting on the edge of, constraint condition is:
(grad_right2left[x][y]＞th1)&&(grad_left2right[x][y]＜th2)&&(gray_right_average[x][y]＞th3)，
Grad_right2left[x wherein] [y] be the poor of current detection two field picture [x] [y] right side gray value and left side gray value, its computing formula is:
grad_right2left[x][y]＝gray[x+3][y]+gray[x+4][y]-gray[x-1][y]-gray[x-2][y]，
Said gray[x] [y] be that image [x] [y] is located gray value; Th1 is the threshold value of lane mark 10 right side gray values and left side gray value differences in the image, and the span of this threshold value can be got the nonnegative integer of 30-50; Grad_left2right[x] [y] be gray value and left side gray value poor of current detection two field picture [x] [y] right side certain distance, its computing formula is:
grad_left2right[x][y]＝gray[x+L+1][y]+gray[x+L+2][y]-gray[x+1][y]-gray[x+2][y]，
Described L is the width of lane mark 10; Th2 is the threshold value of gray value and left side gray value differences behind the lane mark 10 right side certain distances in the image, the span of this threshold value can get-and the negative of 10-0; Gray_right_average[x] [y] be the average gray value of current detection two field picture [x] [y] right side neighborhood interior pixel, its computing formula is:
gray_right_average[x][y]＝(gray[x+1][y]+gray[x+2][y]+gray[x+3][y])/3，
Wherein, th3 is the road surface gray threshold, because the road surface gray value is also different in entire image, so the value of th3 can adopt the mode of line scanning to provide.Condition grad_right2left[x] [y]＞th1 used the lane mark gray value greater than this priori of ground-surface gray value; Grad_left2right[x] [y]＜th2 used lane mark 10 certain width and lane mark gray value to be arranged greater than these two prioris of ground-surface gray value.
Meeting under the situation of above-mentioned constraint condition, carrying out the edge according to the canny algorithm and strengthen and the edge binary conversion treatment, because obtaining after the canny rim detection is the wide edge of single pixel, the real-time and the robustness of raising program run.
Step 4 utilizes the image after the binaryzation to carry out the Hough conversion, searches and mates lane mark 10;
Because the rapid speed of vehicle '; The position of lane mark 10 in several frames in front and back can not have greatly changed; Utilize this characteristic; We can mate the lane mark 10 that detects in several frames in front and back; Have only under the situation that continuous a few frame all mates, we think that just this moment, detected lane mark 10 was a lane mark really.After the Hough conversion, the step of in the Hough space, searching lane mark 10 is:
The state of step 41, detection vehicle ' this moment comprises the cruising state and the deviation state takes place.
Step 42, after learning vehicle running state, search lane mark 10.If be the cruising state at this moment, only search driving vehicle about two lane maries 10; If this moment, deviation took place, when searching about driving vehicle two lane maries 10, search that lane mark 10 that vehicle was pressed or was about to press this moment in addition.Be example with the lane mark 10 of searching the driving vehicle left side below, the method search lane mark 10 is detailed: left-hand lane line parameter is to satisfy the aviation value of maxim and cooresponding Theta of second largest value and Rho in the Hough space of certain constraint condition, and constraint condition is:
(thetaTh1＜Theta＜thetaTh2)&&(abs(Theta-PreTheta)＜DeltaThetaTh)&&(abs(Distance-PreDistance)＜DeltaDisTh)，
Wherein (Theta, Rho) be the Hough conversion after, the straight line parameter in the current lane mark 10 corresponding Hough spaces; ThetaTh1 and thetaTh2 are the scopes of left-hand lane wire clamp angle Theta; If this moment, vehicle was the cruising state; Can select thetaTh1 is about 45 positive integer; Be preferably the positive integer between the 30-60, thetaTh2 is 90, i.e. left-hand lane line maximum angle; If this moment, vehicle departed from that can to select thetaTh1 be about 20 positive integer; Be preferably the positive integer between the 10-30, thetaTh2 is 70 left and right sides positive integers, is preferably the positive integer between the 60-80; PreTheta is the angle that previous frame detects the left side effective wagon diatom 10 that obtains; DeltaThetaTh is the change threshold at two continuous frames middle lane wire clamp angle, and DeltaThetaTh can get the positive integer between the 5-8; Distance and PreDistance are respectively the X coordinate figure of lane mark 10 on the bottom water horizontal line in this moment and the former frame, and DeltaDisTh is two lane mark 10 change of distance threshold values in the middle of two frames of front and back, and DeltaDisTh can get the positive integer between the 10-15.
The method of inspection and left-hand lane line 10 method of inspections of right-hand lane line 10 and middle lane line 10 are basic identical, only are that the scope of lane mark angle is different.The constraint of the angle of right-hand lane line 10 can for, thetaTh1 is about-45 during cruising, thetaTh2 is-90, when departing from, thetaTh1 can elect-20 as, thetaTh2 can elect-70 as; Middle lane line 10 only just detects when deviation takes place, and the scope of Theta satisfies abs (Theta) between 70 to 90.
Step 43, after detecting qualified two straight lines, if the distance of these two straight lines is more or less the same, ask the aviation value of the corresponding parameters of these two straight lines to be the parameter of lane mark 10 this moment; If the distance of these two straight lines differs bigger, that straight line that detected pixel count is maximum when being taken at the Hough variation is as lane mark, and inner at the Hough algorithm, the pixel count on detected all straight lines can know that the explanation that the Hough algorithm is detailed is following:
When in the XY system of axes, having when a bit, cross this point and have and do not have several straight lines, (ρ, θ) value is represented and each bar straight line can be used one group of unique polar coordinate system coordinate.Therefore any in the XY system of axes is at the corresponding curve of polar coordinate system.Numerous points on the straight line on the XY plane is can be on the polar coordinates plane corresponding does not so have several curves, and the cooresponding coordinate of the intersection point of these curves (ρ θ) can be used to represent this straight line.
Lane mark can get access to a lot of marginal points through the canny rim detection, these marginal points is carried out the Hough conversion convert a curve in the Hough space to.With the coordinate parameters Theta in Hough space and the different value of Rho serves as that sign is set up an accumulator/accum array.When the corresponding coordinate figure of curve process, this coordinate figure adds 1 to deserved accumulator value.After like this all marginal points being carried out the Hough conversion,, then think lane mark of Theta and Rho value correspondence of this coordinate figure when the value of the cooresponding accumulator/accum of Hough spatial coordinates during greater than the parameter set.
Step 5 is asked for the distance between car body and the said lane mark 10 according to detected lane mark 10, and judges whether to have taken place deviation.
If this moment, vehicle running state was a cruising, detect and this moment whether deviation take place, whether take place the deviation degree thus the time following formula confirm:
LeftDis＜SafeDisanceTh or RightDis＜SafeDisanceTh
Wherein LeftDis is a distance between car body midway location and the left-hand lane line 10; RightDis is a distance between car body midway location and the right-hand lane line 10; SafeDisanceTh is an early warning distance threshold value between car body and the lane mark 10, when the distance between car body midway location and any lane mark 10 during less than this early warning distance threshold value, thinks deviation has taken place, and sends and carries out corresponding alarm command.
According to Fig. 4, its early warning flow process can be summarized as follows: when starting the lane departure warning system, need demarcate image unit 1 in advance; The service area 9 of inspection vehicle diatom 10 is set again, and rim detection in service area 9 is to find out lane mark 10; After finding out lane mark 10, position and lane mark 10 contrasts with car body draw the judgement whether car body departs from, if the result for departing from, then carries out early warning.
Said as shown in Figure 5 system also further comprises display unit 5, and it is connected with said offset detection unit, with one or more being shown on the LCD display in speed, distance and the road conditions signal of car body.
Said as shown in Figure 6 system further comprises control unit 6 and memory cell 7; Said control unit 6 is connected with prewarning unit 4 with said image unit 1; And comprise said lane mark diagnosis unit 2 and offset detection unit 3, be used to control the also overall operation of dispatching system.It can be high-powered DSP; Be used for controlling the also overall operation of dispatching system circuit; The identification lane mark; And according to the distance of information such as lane mark parameter and position and car body positional information calculation car body and lane mark; If this distance less than certain preset threshold, is then exported the lane departure warning instruction.
Said memory cell 7 is used for memory system operation procedure, data and parameter preset, is connected with said control unit 6, and controlled by it.Can adopt FLASH72 or memory device 71 storages.
System power supply 8 provides electric power for each unit through control unit 6.
The present invention designs distinctive lane mark diagnosis unit and carries out lane identification through behind the Hough spatial alternation, has realized a kind of system that better real-time and robustness are arranged effectively.
Claims (10)
1. lane departure warning system, it is characterized in that: said system comprises the image unit of electrical connection, is used to receive and transmit the picture signal of road conditions;
The lane mark diagnosis unit are connected with said image unit, receive said picture signal, and said picture signal is carried out canny rim detection and Hough conversion, with the identification lane mark;
Offset detection unit is connected with said lane mark diagnosis unit, according to the lane mark that identifies, calculates the distance between itself and the car body, when said distance surpasses pre-set threshold value, sends alarm command;
Prewarning unit is connected with offset detection unit, receives said alarm command, and sends corresponding early warning signal.
2. lane departure warning as claimed in claim 1 system; It is characterized in that: said system further comprises display unit; It is connected with said offset detection unit, with one or more being shown on the LCD display in speed, distance and the road conditions picture signal of car body.
3. lane departure warning as claimed in claim 1 system, it is characterized in that: said system further comprises:
Control unit is connected with prewarning unit with said image unit, and comprises said lane mark diagnosis unit and offset detection unit, is used to control the also overall operation of dispatching system;
Memory cell is connected with said control unit, and controlled by it, is used for memory system operation procedure, data and parameter preset.
4. method that realizes lane departure warning is characterized in that: said method comprising the steps of:
Step 1 is demarcated image unit, to receive and to transmit the road conditions picture signal;
Step 2 is provided with the service area of inspection vehicle diatom according to vehicle running state, and the area of said service area is greater than the area of actual lane mark in image;
Picture signal in the step 3 pair service area is carried out the canny rim detection, obtains binary image;
Step 4 utilizes the image after the binaryzation to carry out the Hough conversion, searches and mates lane mark;
Step 5 is asked for the distance between car body and the said lane mark according to detected lane mark, and judges whether to send alarm command;
Step 6 is sent early warning signal according to alarm command.
5. the method for realization lane departure warning as claimed in claim 4 is characterized in that: when said step 3 was carried out the canny rim detection, constraint condition was:
(grad_right2left[x][y]＞th1)&&(grad_left2right[x][y]＜th2)&&(gray_right_av erage[x][y]＞th3)，
Wherein [x] [y] is the two-dimensional array index in the computing machine; The system of axes at [x] [y] place is: with the image upper left corner is initial point; Level is to the right an x axle positive dirction; Level is downwards a y axle positive dirction; Grad_right2left[x] [y] be image [x] [y] right side gray value and left side gray value poor of current detection frame, its computing formula is:
grad_right2left[x][y]＝gray[x+3][y]+gray[x+4][y]-gray[x-1][y]-gray[x-2][y]，
Said gray[x] [y] be that said current detection two field picture [x] [y] is located gray value; Gray[x+3] [y] locate the grey scale pixel value of 3 pixel position apart from said current detection two field picture [x] [y] on the X positive dirction; Gray[x+4] [y] locate the grey scale pixel value of 4 pixel position apart from said current detection two field picture [x] [y] on the X positive dirction; Gray[x-1] [y] locate the grey scale pixel value of 1 pixel position, gray[x-2 apart from said current detection two field picture [x] [y] on the X negative direction] [y] be the grey scale pixel value of locating 2 pixel position on the negative direction apart from said current detection two field picture [x] [y]; Th1 is the minimum value that the difference of said current detection two field picture [x] [y] right side gray value and preceding detection two field picture [x] [y] left side gray value must satisfy; Grad_left2right[x] [y] be gray value and left side certain distance gray value poor of said current detection two field picture [x] [y] right side certain distance, its computing formula is:
grad_left2right [x] [y] = gray [x + L +1] [y] + gray [x + L +2] [y]-gray [x +1] [y]-gray [x +2] [y ], gray [x + L +1] [y] is the positive X direction is detected from the current frame [x] [y] L +1 pixel width at the position of the pixel gray value, gray [x + L +2 ] [y] is the positive X direction, from the frame image of the current detecting [x] [y] L +2 pixel width at the position of the pixel gray value, gray [x +1] [y] is from the positive X direction, detecting an image of the current frame [x] [y] of one pixel width at the position of pixel gray values, gray [x +2] [y] is the positive X direction, from the frame image of the current detecting [x] [y ] 2 pixels width position at the pixel gray value, L is the effective area of hypothetical lane width); th2 for said current detection frame image [x] [y] X is greater than the distance L in the direction of the gray value and the previous frame image detector [x] [y] X positive direction, the gray values of adjacent pixels in the maximum difference must be met; gray_right_average [x] [y] is the image of the current frame is detected [x] [y] X the positive direction, four adjacent pixels wide average gray value, which is calculated as:
Gray_right_average[x] [y]=(gray[x+1] [y]+gray[x+2] [y]+gray[x+3] [y])/3, wherein, th3 is the road surface gray threshold.
6. the method for realization lane departure warning as claimed in claim 4 is characterized in that: said step 4 further may further comprise the steps:
Step 41 detects the current motoring condition of vehicle;
Step 42 is searched the lane mark that satisfies certain constraint condition after confirming vehicle running state;
Step 43 is confirmed lane mark after detecting qualified lane mark;
Wherein the constraint condition described in the step 42 is: (&& (abs (Theta-PreTheta)＜DeltaThetaTh) && (abs (Distance-PreDistance)＜DeltaDisTh) of thetaTh1＜Theta＜thetaTh2); Wherein: after Theta and Rho are the Hough conversion; Straight line parameter in the corresponding Hough of the current lane mark space; ThetaTh1 and thetaTh2 are the scopes of lane mark angle Theta, and PreTheta is the angle of the lane mark in the previous frame; DeltaThetaTh is the change threshold at two continuous frames middle lane wire clamp angle; Distance and PreDistance are respectively current lane mark and the X coordinate figure of previous frame lane mark on the bottom water horizontal line, and DeltaDisTh is the change threshold of two lane mark distances in the middle of two frames of front and back.
7. the method for realization lane departure warning as claimed in claim 6 is characterized in that: during normal vehicle operation, said thetaTh1 is the positive integer between the 30-60, and thetaTh2 is 90; Or said thetaTh1 is-negative integer between the 60--30 that thetaTh2 is-90.
8. the method for realization lane departure warning as claimed in claim 6 is characterized in that: when vehicle departed from, said thetaTh1 was the positive integer between the 10-30, and thetaTh2 is the positive integer between the 60-80; Or said thetaTh1 is-negative integer between the 30--10 that thetaTh2 is-80--60.
9. the method for realization lane departure warning as claimed in claim 6 is characterized in that: said DeltaThetaTh is the positive integer between the 5-8.Said DeltaDisTh is the positive integer between the 10-15.
10. the method for realization lane departure warning as claimed in claim 4 is characterized in that: when vehicle departs from, carry out the middle lane line and detect, the scope of Theta is between the 70-90 after the Hough conversion.
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Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102706291A (en) * | 2012-05-18 | 2012-10-03 | 长安大学 | Method for automatically measuring road curvature radius |
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| CN109147368A (en) * | 2018-08-22 | 2019-01-04 | 北京市商汤科技开发有限公司 | Intelligent driving control method device and electronic equipment based on lane line |
| CN109271959A (en) * | 2018-09-30 | 2019-01-25 | 京东方科技集团股份有限公司 | A kind of vehicle shift method for early warning and device |
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| CN111002990A (en) * | 2019-12-05 | 2020-04-14 | 华南理工大学 | Lane departure early warning method and system based on dynamic departure threshold |
| CN111376902A (en) * | 2018-12-29 | 2020-07-07 | 浙江吉利控股集团有限公司 | Automatic driving lane keeping method and system |
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| CN102706291B (en) * | 2012-05-18 | 2014-12-24 | 长安大学 | Method for automatically measuring road curvature radius |
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| CN105550652A (en) * | 2015-12-14 | 2016-05-04 | 宁波裕兰信息科技有限公司 | Realization method of LDW based on four-camera 360-degree look-around |
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