CN103101535A - Apparatus for compensating vehicle lane of lane keeping assistance system and method - Google Patents

Abstract

The invention provides an apparatus for compensating a vehicle lane of an LKAS (lane keeping assistance system) and a method. The vehicle lane is compensated via determination of vehicle lane recognition and error recognition states of a camera provide with the LKAS, and therefore under the condition of vehicle lane recognition, noise of vehicle lane information is removed, under the condition of vehicle lane error recognition, accurate recognition of the vehicle lane can also be enabled. The device comprises:a camera for detecting the vehicle lane; a vehicle lane compensating logic part inputting vehicle lane information detected from the camera, and via algorithm of a moving average filter, averaging a plurality of vehicle lane values input in a certain time in the vehicle lane information to calculate a vehicle lane estimated value; and an LKAS, according to the vehicle lane estimated value, prevention of vehicle lane deviation of the vehicle is assisted.

Description

LKAS track compensating device and method

Technical field

The present invention relates to LKAS(Lane Keeping Assistance System) track compensating device and method, the identification and the mistake identification situation that relate in more detail to be equipped with by judgement the pick up camera of LKAS compensate the track, thereby in the situation that lane identification, remove the noise of lane information; In the situation that track mistake identification, also can identify in the mode of the information that is similar to actual track track compensating device and the method for the LKAS in track.

Background technology

Lane keeping ancillary system (LKAS:Lane KeepingAssistance System) is to detect the track by sensor, and the position signal in the track that detects is converted to the system that torque rating prevents the deviation of vehicle.

This lane keeping ancillary system utilizes the road information of measuring by pick up camera to come not run-off-road of assisting vehicle, therefore can be subject to the very large impact of pick up camera accuracy.

When travelling on road, unidentified or the mistake of the pick up camera that causes because of environmental factors such as guardrail, braking track, two-way lane, snow, rain occurs continually identify the example in track, and, because the unidentified or mistake identification in this track, when causing the operation generation misoperation of LKAS, the sensation that not only driver is felt bad also can cause the situation of causing danger.

When inferring the track, be to utilize lane width information and noise level to compensate the track according to the lane identification device of conventional art, but because lane width is not real road information, but therefore the low problem of accuracy can occur in arbitrary value.

Background technology of the present invention is disclosed in, No. 2009-0053412, Korea S's publication communique (2009.05.27 is open, the title of invention: prevent deviation system).

Summary of the invention

(technical matters that will solve)

The object of the present invention is to provide track compensating device and the method for LKAS, identification and mistake identification situation that the pick up camera of LKAS is installed by judgement compensate the track, thereby in the situation that lane identification, remove the noise (noise) of lane information; In the situation that track mistake identification, also can identify the track in the mode of the information that is similar to actual track.

(means of dealing with problems)

Track compensating device according to the LKAS of a side of the present invention is characterized in that, comprising: pick up camera, for detection of the track; Track compensation logic section, the lane information that input detects from described pick up camera, and by the moving average filter algorithm, a plurality of tracks value of inputting within a certain period of time in described lane information is averaged to calculate the track presumed value; And LKAS(Lane Keeping Assistance System), according to described track presumed value, come the auxiliary deviation that prevents vehicle.

In addition, the track compensation method according to the LKAS of another side of the present invention is characterized in that, comprising: the step of the lane information that input detects from pick up camera; By the moving average filter algorithm, a plurality of tracks value of inputting within a certain period of time in described lane information is averaged to calculate the track presumed value, and in described lane information, the unidentified time remaining in track finishes to utilize described lane information to calculate the step of the process of described track presumed value when setting-up time is above; Reach the step that described track presumed value is outputed to LKAS.

In the present invention, calculate described track presumed value (x by following operational formula in the preferred described step of calculating the track presumed value _k),

$\stackrel{\&OverBar;}{x_k}=\frac{x_{k-\mathrm{<figure-callout\; id="1"\; label="n\; +"\; filenames="HDA00002239973800011.png"\; state="\{\{state\}\}">n</figure-callout>}+1}+x_{k-\mathrm{<figure-callout\; id="2"\; label="n\; +"\; filenames="HDA00002239973800011.png,HDA00002239973800021.png"\; state="\{\{state\}\}">n</figure-callout>}+2}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_k}{n}$

$\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_{k-n}+x_{k-\mathrm{<figure-callout\; id="1"\; label="n\; +"\; filenames="HDA00002239973800011.png"\; state="\{\{state\}\}">n</figure-callout>}+1}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_{k-1}}{n}$

$\stackrel{\&OverBar;}{x_k}-\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_k-x_{k-n}}{n}$

$\stackrel{\&OverBar;}{x_k}=\stackrel{\&OverBar;}{x_{k-1}}+\frac{x_k-x_{k-n}}{n}$

Wherein, k is the sequence number of current data, and n is the data amount check when averaging.

(effect of invention)

As mentioned above, the present invention is equipped with the pick up camera of LKAS by judgement identification and mistake identification situation compensate the track, thereby in the situation that lane identification, can remove the noise (noise) of lane information; In the situation that track mistake identification, also can identify the track in the mode of the information that is similar to actual track.

In addition, the present invention can by lane identification accurately, come erection ﹠ lift that LKAS(Lane Keeping Assistance System is arranged) the controller performance of vehicle.

Description of drawings

Fig. 1 is for the figure according to the structure of the track compensating device of the LKAS of one embodiment of the invention is described.

Fig. 2 is for the diagram of circuit according to the track compensation method of the LKAS of one embodiment of the invention is described.

Fig. 3 is the chart that illustrates by the track presumed value of calculating according to the track compensation logic of one embodiment of the invention.

(description of reference numerals)

1: pick up camera

2: track compensation logic section

3: lane keeping ancillary system (LKAS)

21: moving average filter (MAF)

The specific embodiment

Below, the present invention will be described in more detail by embodiment.But this is only the illustration embodiments of the invention, and technical protection scope of the present invention is not limited by these embodiment.

In this process, the thickness of the lines shown in accompanying drawing or the size of structural constituent etc. are for the definition on illustrating may be amplified diagram with facility.In addition, term described later is to consider the function in the present invention and the term that defines, and it can be according to user, operator's intention or convention and difference.Therefore, should be based on the content of this specification for the definition of this term and determine.

Fig. 1 is for the figure according to the structure of the track compensating device of the LKAS of one embodiment of the invention is described.

With reference to Fig. 1, utilize moving average filter (Moving Average Filter according to one embodiment of the invention; MAF) the track compensating device of technology comprises: pick up camera 1; Track compensation logic section 2; And LKAS(Lane Keeping Assistance System; The lane keeping ancillary system) 3.

Pick up camera 1 is taken the road ahead of operational vehicle and detects the track, and the lane information that detects is offered track compensation logic section 2.

Track compensation logic section 2 receives from the lane information that detects of pick up camera 1 input, a plurality of tracks value of inputting within a certain period of time in described lane information is averaged to infer the track, and the track presumed value of inferring is offered LKAS3.This track compensation logic section 2 comprises and utilizes lane information to infer the moving average filter 21 in track.

Track presumed value (x calculates by following operational formula in this track compensation logic section 2 _k).

$\stackrel{\&OverBar;}{x_k}=\frac{x_{k-n+1}+x_{k-n+2}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_k}{n}$

$\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_{k-n}+x_{k-n+1}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_{k-1}}{n}$

$\stackrel{\&OverBar;}{x_k}-\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_k-x_{k-n}}{n}$

$\stackrel{\&OverBar;}{x_k}=\stackrel{\&OverBar;}{x_{k-1}}+\frac{x_k-x_{k-n}}{n}$

Herein, k is current data sequence number, and n is the data amount check that averages.

The basic form of described moving average filter can be considered as, and the aviation value by n data calculates current x value.That is, within a certain period of time, average n track is worth to infer the track.

With this, namely can remove from the noise of the lane information of pick up camera 1 appearance, can also reflect the dynamic change in track.

LKAS(Lane Keeping Assistance System) 3, receive from the track presumed value of track compensation logic section 2 inputs, and come not run-off-road of assisting vehicle by the track presumed value.

The below introduces has the track compensation method according to one embodiment of the invention of structure as mentioned above.

Fig. 2 is for the diagram of circuit according to the track compensation method of the LKAS of one embodiment of the invention is described, Fig. 3 is diagram by the chart of the track presumed value of calculating according to the track compensation logic of one embodiment of the invention.

As shown in Figure 2, at first, receive the lane information (S1) that detects from pick up camera 1.

Afterwards, the moving average filter algorithm in track is inferred by utilizing lane information by track compensation logic section 2, calculates track presumed value (S2).

In the situation of conventional art, under the Unidentified situation in track, can utilize certain value (lane width) to compensate the track, in contrast, the present invention is by calculating the track presumed value with the moving average filter algorithm, therefore under the Unidentified situation in track, the actual lane information that recognizes before also can utilizing is inferred the track, therefore can improve accuracy.

In addition, under the situation of lane identification, because export the track presumed value by the moving average filter algorithm, not only can remove thus from the noise of the lane information of pick up camera 1 input, can also be under the situation of mistake identification, track presumed value by the moving average filter algorithm be with in the situation that not by mistake the lane information of identification combine to calculate, therefore can improve accuracy.

Afterwards, LKAS(Lane Keeping Assistance System) 3 pass through to come not run-off-road (S3) of assisting vehicle from the track presumed value of track compensation logic section 2 inputs.

On the other hand, lane information comprises the unidentified information in track, therefore when calculating the track presumed value, when the unidentified time remaining setting-up time in track is above, can't trust the track presumed value by aviation value, thereby finish to utilize lane information to calculate the process of track presumed value.

Fig. 3 is the chart of the track presumed value calculated by track compensation logic section of diagram, under under mean, the distance (LFT/RGT) between lane identification degree (Quality), vehicle center and track, lane width (Width) information.

According to the data amount check that uses, drawn moving average filter (MAK) technology use I 2. with moving average filter algorithm application II 3., and can find out, according to data amount check, the track that demonstrates and the difference of presumed value used.

in addition, as shown in lane identification degree (Quality), the lane identification degree that has demonstrated right-hand lane (RGT) is higher, but the lower situation of lane identification degree of left-hand lane (LFT), the situation of left-hand lane (LFT) is, even in the lower interval of lane identification degree, also can calculate track presumed value (LFT) in setting-up time, and, as drawing as shown in the part of circle, can confirm, even because noises etc. cause video camera information jump 1., the track presumed value 2., 3. the part of jump also appears, and follow well.

In sum, the present invention stores the lane information of measuring from pick up camera 1 in real time, and utilize the lane information of certain interval (n-point) to infer the track, thereby under the situation of and mistake identification unidentified in the track, also can improve the accuracy of lane identification degree and track presumed value.

In addition, the track is in other situation, also utilizes the moving average filter algorithm to infer the track, can remove noise thus.

The track technology of inferring in the past is to infer with considering the track that noise level filters by the lane width of setting with arbitrary value.In this case, because be not to use actual lane width, therefore error can occur, in contrast, the present invention is that before utilizing, the track of identification is worth to infer current track value, so can reduce the error of track in inferring.

As mentioned above, the lane information that utilization of the present invention detects by pick up camera 1, and infer the track by the moving average filter algorithm, therefore not only can remove the noise of lane information, can also be in the situation that track mistake identification, identify the information that is similar to actual track, thus can erection ﹠ lift LKAS(Lane Keeping Assistance System be arranged) controller performance of vehicle.

As mentioned above, the present invention is illustrated with reference to embodiment shown in figure, but this is only exemplary embodiment, and the general technical staff of the technical field of the invention should be appreciated that and can therefrom realize various deformation and other embodiment that are equal to.

Claims (3)

1. a LKAS track compensating device, is characterized in that, comprising:

Pick up camera is for detection of the track;

Track compensation logic section, the lane information that input detects from described pick up camera, and by the moving average filter algorithm, a plurality of tracks value of inputting within a certain period of time in described lane information is averaged to calculate the track presumed value; And

LKAS according to described track presumed value, comes the auxiliary deviation that prevents vehicle.

2. a LKAS track compensation method, is characterized in that, comprising:

The step of the lane information that input detects from pick up camera;

By the moving average filter algorithm, a plurality of tracks value of inputting within a certain period of time in described lane information is averaged to calculate the track presumed value, and in described lane information, the unidentified time remaining in track finishes to utilize described lane information to calculate the step of the process of described track presumed value when setting-up time is above; And

Described track presumed value is outputed to the step of LKAS.

3. LKAS track compensation method according to claim 2, is characterized in that,

Calculate described track presumed value (x by following operational formula in the described step of calculating the track presumed value _k),

$\stackrel{\&OverBar;}{x_k}=\frac{x_{k-n+1}+x_{k-n+2}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_k}{n}$

$\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_{k-n}+x_{k-n+1}+\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;\&CenterDot;+x_{k-1}}{n}$

$\stackrel{\&OverBar;}{x_k}-\stackrel{\&OverBar;}{x_{k-1}}=\frac{x_k-x_{k-n}}{n}$

$\stackrel{\&OverBar;}{x_k}=\stackrel{\&OverBar;}{x_{k-1}}+\frac{x_k-x_{k-n}}{n}$

Wherein, k is the sequence number of current data, and n is the data amount check when averaging.

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