CN103496370B - A kind of lane departure warning method - Google Patents
A kind of lane departure warning method Download PDFInfo
- Publication number
- CN103496370B CN103496370B CN201310479420.8A CN201310479420A CN103496370B CN 103496370 B CN103496370 B CN 103496370B CN 201310479420 A CN201310479420 A CN 201310479420A CN 103496370 B CN103496370 B CN 103496370B
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- CN
- China
- Prior art keywords
- lane line
- avertence
- early warning
- lane
- intersection point
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Classifications
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- 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
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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
- B60W2050/143—Alarm means
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
Abstract
The present invention provides a kind of lane departure warning method, the video image of seizure is sent in DSP in real time by camera, pass through image processing techniques in dsp, it is in leeway that left and right lane line angle and lane line, which are obtained, with image base intersection point, it is final to realize that left and right deviation is alarmed, improve the active safety performance of automobile.The present invention can not only be appropriately determined vehicle from centre to both sides sideslip；And vehicle can be detected whether line ball travels and exceeds lane line, it can also avoid camera inside and outside parameter from demarcating complicated processes.
Description
Technical field
The present invention relates to a kind of method for strengthening vehicle safety, and in particular to a kind of lane departure warning method,
Belong to automobile active safety technical field.
Background technology
Importance of the Lane Departure Warning System as field of automotive active safety research, main purpose are to work as vehicle
In run-off-road during highway driving, driver's prompting message is given in advance.The system uses image processing techniques
Position of the detection vehicle in lane line in real time, judges whether vehicle has deviated from lane line.When detecting automotive run-off-road
Line, warning message is provided to driver.Wherein, lane departure warning model is to be used for whether judging vehicle after detecting lane line
The method deviateed.
It is broadly divided into following several in lane departure warning field, conventional Early-warning Model at present：CCP models (Cars
Current Position, current vehicle position), it is based primarily upon current location of the vehicle in track；FOD models (Future
Offset Difference, following bias difference), it is based primarily upon the difference of vehicle following bias on road surface；TLC moulds
Type (Time to Lane Crossing, passes through the time in track), be based primarily upon vehicle on road surface it is following pass through track when
Between；KBIRS models (Knowledge-Based Interpretation of Road Scenes, road scene perceive), mainly
Perceived based on road scene.But the above method needs to carry out inside and outside parameter demarcation to video camera, obtains vehicle opposite lane line
Specific distance, it is more to be related to parameter.Another lane line angle method for early warning can be without camera calibration, but works as and drive
During member's unilateral lane line line ball traveling can not and alarm.
The content of the invention
Present invention aim to address the shortcomings that above-mentioned lane departure warning method.
For achieving the above object, the present invention uses following technical scheme：
A kind of lane departure warning method, it is characterised in that：Comprise the following steps：1) detection algorithm obtains left and right lane line
Angle is th_L, th_R；
2) judge whether th_L-th_R is less than-T, T is a certain angle value more than zero；
If 3) judged result in step 2 is yes, 1 is added from early warning counter to right avertence；
4) judge whether continuous 3 frame early warning counter is 3；
If 5) result in step 4 is yes, right avertence alarm is carried out, if it is not, then right avertence early warning counter O reset；
If 6) judged result in step 2 is no, determine whether th_L-th_R is more than T；
If 7) judged result in step 6 is yes, add 1 in left avertence early warning counter, then judge continuous 3 frame early warning meter
Whether number device is 3；
If 8) judged result in step 7 is yes, left avertence alarm is carried out, if it has not, then clear to left avertence early warning counter
Zero；
If 9) judged result in step 6 is no, determine whether left-lane line is permitting with image base intersection point
Perhaps in the range of deviateing；
10) if the left-lane line and image base intersection point in step 9 are in leeway, the right side is determined whether
Whether lane line is with image base intersection point in leeway；If the left-lane line in step 9 does not have with image base intersection point
In leeway, then step 7 and step 8 are continued executing with, realize final left avertence alarm；
11) if the right-lane line in step 10 not in leeway, continues executing with step with image base intersection point
Rapid 3 arrive step 5, realize final right avertence alarm.
Preferably, the T angular ranges in above-mentioned steps 2 are 10-30 degree.
Preferably, above-mentioned T angle is 20 degree.
The present invention can be appropriately determined vehicle from centre to both sides sideslip, and can detecting vehicle, whether line ball is travelled and exceeded
Lane line, the complicated processes that can effectively avoid camera inside and outside parameter from demarcating.
Brief description of the drawings
Fig. 1：The software flow pattern of the present invention；
Fig. 2：Lane line angle schematic diagram；
Fig. 3：Lane line and base intersection point schematic diagram.
Embodiment
The video image of seizure is sent in DSP by camera in real time, in dsp by image processing techniques, obtains a left side
Right-lane line angle and lane line and image base intersection point.Deviation early warning is carried out according to following lane departure warning method.
As described in Figure 1, lane departure warning method comprises the following steps：
Step 1, it is th_L, th_R that detection algorithm, which obtains left and right lane line angle,；
Step 2, judge whether th_L-th_R is less than-T；
Step 3, if the judged result in step 2 is yes, 1 is added from early warning counter to right avertence；
Step 4, judge whether continuous 3 frame early warning counter is 3；
Step 5, if the result in step 4 is yes, right avertence alarm is carried out, if it is not, then right avertence early warning counter O reset；
Step 6, if the judged result in step 2 is no, determine whether th_L-th_R is more than T；
Step 7, if the judged result in step 6 is yes, add 1 in left avertence early warning counter, then judge that continuous 3 frame is pre-
Whether alert counter is 3；
Step 8, if the judged result in step 7 is yes, left avertence alarm is carried out, if it has not, then being counted to left avertence early warning
Device is reset；
Step 9, if the judged result in step 6 is no, determine whether are left-lane line and image base intersection point
In leeway；
Step 10, if whether the left-lane line and image base intersection point in step 9 are in leeway, further
Judge right-lane line with image base intersection point whether in leeway；If left-lane line and image base in step 9
Intersection point then continues executing with step 7 and step 8 not in leeway, realizes final left avertence alarm.
Step 11, if the right-lane line and image base intersection point in step 10 continue to hold not in leeway
Row step 3 arrives step 5, realizes final right avertence alarm.
The specific implementation procedure of the present invention is as follows：
Angle-off set, which deviates, to be judged to be set to th_L, 180-th_ using the lane line of polar coordinate representation or so track angle
R.Wherein th_R represents angle on the inside of right-lane line.As shown in Figure 2：Judge whether th_L and th_R difference is less than-T first, its
Middle T is a certain angle value more than zero, and scope is typically chosen in 10-30 degree, is set as 20 degree in this example.T values are smaller, deviate report
Police is sensitiveer, while rate of false alarm can increase, conversely, T values are bigger, deviation warning sensitivity decrease, and while rate of false alarm also reduces.Such as
Fruit th_L and th_R difference are set up less than-T, illustrate that now lane line is possible to shift to the right.In order to ensure alarm can
By property, author proposes to confirm the accuracy of lane line deviation using the method for continuous three frame detection.Ought detect lane line to
When right avertence is moved, right avertence early warning counter adds 1, and whether right avertence early warning counter can reach after counting other follow-up two field pictures
To three.If three, it was demonstrated that vehicle deviates to the right.Otherwise right avertence early warning counter O reset, system are not provided to alarm signal
Breath.If th_L and th_R difference is more than T, illustrate that vehicle is possible to be deviated to the left, judge also according to the above method.
Lane line and the intersection point on image base are judged, if th_L's and th_R is poor between-T and T, into track
Line and image base intersection area decision stage.The program mainly judges whether vehicle travels along track side, or beyond track
Line.If vehicle can be offset to the right close to track left driving, in the picture left-lane line, but vehicle is in track centre position
When, we can be very easy to obtain lane line and image base position of intersecting point.Certain distance DIS is offset to the right in this location point
20-50 pixels are usually set to as left avertence early-warning point P_L, DIS scope, as shown in Figure 3.If detect left-lane line and figure
As base intersection point be located at P_L right sides, then left avertence early warning counter adds 1, and continuously detects whether follow-up two frame also while occurs a left side
Partially.After counting three frames, judge whether early warning counter is 3, if 3, then illustrate that left avertence occurs really for vehicle, start buzzing
Device is alarmed, otherwise early warning counter zero setting.Vehicle right avertence Cleaning Principle is same as above.
Claims (3)
- A kind of 1. lane departure warning method, it is characterised in that：Comprise the following steps：1) it is th_L, th_R that detection algorithm, which obtains left and right lane line angle,；2) judge whether th_L-th_R is less than-T, the T is a certain angle value more than zero；If 3) judged result in step 2 is yes, 1 is added from early warning counter to right avertence；4) judge whether continuous 3 frame early warning counter is 3；If 5) result in step 4 is yes, right avertence alarm is carried out, if it is not, then right avertence early warning counter O reset；If 6) judged result in step 2 is no, determine whether th_L-th_R is more than T；If 7) judged result in step 6 is yes, add 1 in left avertence early warning counter, then judge continuous 3 frame early warning counter Whether it is 3；If 8) judged result in step 7 is yes, left avertence alarm is carried out, if it has not, then to left avertence early warning counter O reset；If 9) judged result in step 6 is no, determine whether left-lane line is allowing partially with image base intersection point From in the range of；10) if the left-lane line and image base intersection point in step 9 are in leeway, right lane is determined whether Whether line is with image base intersection point in leeway；If the left-lane line in step 9 is not permitting with image base intersection point Perhaps in the range of deviateing, then step 7 and step 8 are continued executing with, realizes final left avertence alarm；11) if the right-lane line in step 10 not in leeway, continues executing with step 3 and arrived with image base intersection point Step 5, final right avertence alarm is realized.
- 2. lane departure warning method according to claim 1, it is characterised in that：T angular ranges in the step 2 are 10-30 degree.
- 3. lane departure warning method according to claim 2, it is characterised in that：The angle of the T is 20 degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310479420.8A CN103496370B (en) | 2013-10-15 | 2013-10-15 | A kind of lane departure warning method |
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| CN201310479420.8A CN103496370B (en) | 2013-10-15 | 2013-10-15 | A kind of lane departure warning method |
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| CN103496370A CN103496370A (en) | 2014-01-08 |
| CN103496370B true CN103496370B (en) | 2018-01-30 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104129389B (en) * | 2014-08-06 | 2017-02-01 | 中电海康集团有限公司 | Method for effectively judging and recognizing vehicle travelling conditions and device thereof |
| CN106184232B (en) * | 2016-07-27 | 2018-11-16 | 北京航空航天大学 | A kind of lane departure warning control method based on driver visual angle |
| CN112562406B (en) * | 2020-11-27 | 2022-08-16 | 众安在线财产保险股份有限公司 | Method and device for identifying off-line driving |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621263A (en) * | 2003-11-26 | 2005-06-01 | 日产自动车株式会社 | Automotive lane deviation prevention apparatus |
| CN201427553Y (en) * | 2009-06-26 | 2010-03-24 | 长安大学 | Alarm system of vehicle departure from lane |
| CN102826093A (en) * | 2011-06-17 | 2012-12-19 | 歌乐株式会社 | Lane departure warning device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100766594B1 (en) * | 2006-01-20 | 2007-10-11 | 한민홍 | Early lane departure warning method for vehicle |
| KR100941271B1 (en) * | 2007-03-30 | 2010-02-11 | 현대자동차주식회사 | Prevention method of lane departure for vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1621263A (en) * | 2003-11-26 | 2005-06-01 | 日产自动车株式会社 | Automotive lane deviation prevention apparatus |
| CN201427553Y (en) * | 2009-06-26 | 2010-03-24 | 长安大学 | Alarm system of vehicle departure from lane |
| CN102826093A (en) * | 2011-06-17 | 2012-12-19 | 歌乐株式会社 | Lane departure warning device |
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Address after: 225000 Shuangqiao business hall, No. 413 Yangzi Jiangbei Road, Hanjiang District, Jiangsu, Yangzhou Province, 3006 Applicant after: Yangzhou auspicious control vehicle electronics Co., Ltd Address before: 211400 science and Technology Pioneering service center, No. 9, Tai Tai Road, Yizheng Economic Development Zone, Yangzhou, Jiangsu Applicant before: Yangzhou auspicious control vehicle electronics Co., Ltd |
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