CN104015725A - Lane departure warning method based on multi-parameter decision - Google Patents
Lane departure warning method based on multi-parameter decision Download PDFInfo
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- CN104015725A CN104015725A CN201410260342.7A CN201410260342A CN104015725A CN 104015725 A CN104015725 A CN 104015725A CN 201410260342 A CN201410260342 A CN 201410260342A CN 104015725 A CN104015725 A CN 104015725A
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- Prior art keywords
- vehicle
- lane mark
- safety evaluation
- evaluation index
- wheel
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Classifications
-
- 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
-
- 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
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
The invention provides a lane departure warning method based on a multi-parameter decision. According to the method, a sensing unit acquires sensor data essential for a departure decision, a control unit is responsible for calculating side direction safety evaluation indexes of a vehicle so as to judge whether the vehicle has the departure risk at the current moment or not is judged, and whether the departure tendency of the vehicle is corrected or not is judged, and recognize the operating intention of a driver, and an alarming unit is responsible for issuing alarming information through images, sound and vibration. The lane departure warning method is high in accuracy rate, low in false alarm rate and easy to carry out, and lane departure accidents can be effectively reduced and avoided.
Description
[technical field]
The present invention relates to a kind of lane departure warning method based on multi-parameter decision-making, specifically utilize the relative position information of vehicle that viewing system provides and periphery lane mark to depart from a kind of lane departure warning method with high accuracy and active safety of decision-making.
[background technology]
Lane departure warning system is that vehicle reminds chaufeur to notice that controlling party is to, and a kind of drive assist system of ACTIVE CONTROL vehicle movement not by the mode of reporting to the police when because of reason run-off-roads such as chaufeur carelessness.This system is intended to improve vehicle side to safety, reduces or avoid the generation of Lane Departure.
Existing lane departure warning system mostly utilizes vehicle front lane mark information to depart from decision-making, and when road exists certain slope or vehicle to occur pitching or roll motion, this kind of way accuracy rate can reduce.Progress and development along with machine vision technique, vehicle-mounted viewing system is more and more applied in automobile, viewing system is to set up 4 to 8 wide-angle cameras that can cover all field ranges of vehicle-surroundings at motor vehicle environment, the multiple paths of video images that synchronization is collected is processed into the vehicle body birds-eye view of width vehicle-surroundings 360 degree, and shows on driving indoor display screen.Viewing system can obtain vehicle-surroundings environmental information exactly.
There is research institution to propose to utilize viewing system inspection vehicle diatom to depart from decision-making and carry out lane departure warning.But in current proposed scheme, adopt to depart from decision making algorithm too simple, be simply according to distance between automobile and lane mark, to judge mostly, near and away from the not effectively identification of trend of lane mark.When chaufeur is made effective corrective action, but due to the hysteresis of automobile side longitudinal dynamics response, system is still reported to the police, cause rate of false alarm high, affect the acceptance of system.
[summary of the invention]
Main purpose of the present invention is in order to solve prior art problem, and a kind of lane departure warning method based on multi-parameter decision-making of low rate of false alarm is provided.
A lane departure warning method based on multi-parameter decision-making, comprises the steps:
The first step: obtain data
By vehicle-mounted viewing system, obtain the distance in sideline, wheel tracks track and the angle of vehicle longitudinal axis and lane mark, vehicle wheel speed sensor obtains vehicle wheel rotational speed and is scaled vehicular longitudinal velocity, steering wheel angle sensor obtains the steering operation signal of chaufeur, and steering indicating light signal can directly obtain by the input interface of control unit;
Second step: calculation side is to Safety Evaluation Index
According to following formula, calculate the side direction Safety Evaluation Index of vehicle
A(u)＝0.81671+0.0002415u+0.00002356u
2
B＝0.6625
In formula, y is side direction Safety Evaluation Index, and x is the distance of wheel tracks homonymy lane mark, and u is wheel longitudinal velocity, and A (u) is the variable relevant with speed, and B is system constant.
The 3rd step: judge whether vehicle has and depart from current time
Calculated vehicle at a upper moment and next side direction Safety Evaluation Index constantly, utilizing the movement tendency of the side direction Safety Evaluation Index judgement vehicle in three moment is near lane mark or away from lane mark; If the Safety Evaluation Index of vehicle reduces gradually, vehicle movement trend is near lane mark; Otherwise, away from lane mark;
The 4th step: judge whether the trend that vehicle departs from is revised
Utilize the variable angle of vehicle longitudinal axis and lane mark to judge whether the trend that vehicle departs from is revised, the angle of vehicle longitudinal axis and lane mark is negative value and reduces gradually, illustrates the trend that departs from of vehicle is not taked to correction measure; This angle be on the occasion of and the trend that reduces gradually to depart from revised;
The 5th step: the operation intention of identification of driver
Utilize the operation intention of inputting identification of driver with the bearing circle of chaufeur of whether opening of steering indicating light signal;
The 6th step: issue alarm message
If control unit decision-making goes out wheel, departing from and do not taking to revise and arrange mistake, the operation of chaufeur to be intended to neither change or turning, to alarm unit, sending alarm command, alarm unit is according to the instruction issue alarm message receiving.
Beneficial effect:
Compared to the prior art, tool has the following advantages in the present invention:
(1) the present invention develops and forms on the basis of vehicle-mounted viewing system, without increasing in addition forward sight camera, has reduced the cost of system;
(2) the present invention has considered the feature of time gap and space length, utilizes vehicle side to carry out deviation decision-making to Safety Evaluation Index;
(3) in the present invention, the driving intention to chaufeur is identified, and when chaufeur changes or turns, system is not sent warning;
(4) the vibrations bearing circle in the present invention is to utilize the DC machine of electric boosting steering system to realize, without increase vibration motor in bearing circle;
[accompanying drawing explanation]
Fig. 1 is the overall architecture of the inventive method
Fig. 2 is vehicle-mounted viewing system;
Fig. 3 is the lane information that viewing system obtains;
Three moment when Fig. 4 is judgement vehicle movement trend;
Fig. 5 is the method for utilizing driver's operation identification of driver intention;
Fig. 6 is deviation algorithm flowchart of system;
Fig. 7 is typical road condition 1;
Fig. 8 is typical road condition 2;
Fig. 9 is typical road condition 3.
[specific embodiment]
Main purpose of the present invention can be achieved through the following technical solutions:
Specific embodiment one,
Below in conjunction with specific embodiment, the present invention is described in detail, and following examples will contribute to those skilled in the art further to understand the present invention.As shown in Figure 7, processing method when the present embodiment describes vehicle gradually near lane mark in detail, comprises following step:
(1) perception unit obtains the distance in sideline, wheel tracks track and the angle of vehicle longitudinal axis and lane mark by vehicle-mounted viewing system, vehicle wheel speed sensor obtains vehicle wheel rotational speed and is scaled vehicular longitudinal velocity, steering wheel angle sensor obtains the steering operation signal of chaufeur, and steering indicating light signal can directly obtain by the input interface of control unit.
(2) control unit is responsible for signal processing, to alarm unit sending controling instruction.Particularly, utilize the distance in sideline, wheel tracks track and vehicular longitudinal velocity to calculate vehicle side to Safety Evaluation Index, carry out vehicle current time hazard assessment;
According to following formula, calculate the side direction Safety Evaluation Index of vehicle
A(u)＝0.81671+0.0002415u+0.00002356u
2
B＝0.6625
In formula, y is side direction Safety Evaluation Index, and x is the distance of wheel tracks homonymy lane mark, and u is wheel longitudinal velocity, and A (u) is the variable relevant with speed, and B is system constant.
At (A (u), 0.5) locate to do tangent line and intersect at respectively (A (u)-2B with y=0 and y=1,0.12) and (A (u)+2B, 0.88), Safety Evaluation Index when lateral distance is A (u)-2B is 0.12, now vehicle is in dangerous state, and Safety Evaluation Index when lateral distance is A (u)+2B is 0.88, and now vehicle is in comparatively safe state.In the present invention, the span of Safety Evaluation Index is exactly 0.12-0.88.
China's Expressway Design speed is up to 120km/h, and lane width is 3.75m.Vehicle Driving Cycle vehicle when the centre in track is the safest, and Safety Evaluation Index is maximum.Wheelspan is 1500mm, and tyre width is 195 ≈ 200mm.Vehicle has been crossed over danger close after lane mark, the lane departure warning system experimentation test statement of drawing up according to american car security offices and anticollision standard office chamber, the time of sending the latest early warning is to cross over the moment of lane mark 0.3m at wheel, does not constantly also send early warning be considered as thrashing to this.Situation in the present invention when crossing over lane mark 0.3m is considered as the most dangerous operating mode, and Safety Evaluation Index is 0.12; In like manner, the safest to opposite side when single wheel is crossed over lane mark 0.3m, apart from the distance of lane mark, be 2.35m, Safety Evaluation Index is 0.88.
Under a certain speed of a motor vehicle, obtain A (u1)-2B=-0.3A (u1)+2B=2.35, calculate B=0.6625, A (u) increases along with the increase of the speed of a motor vehicle and span contains whole constant intervals of x, by curve, obtains.
Can be by relatively showing that the Safety Evaluation Index of vehicle reduces gradually under operating mode shown in Fig. 6, vehicle movement trend is near lane mark; The angle of vehicle longitudinal axis and lane mark is negative value and reduces gradually, illustrates the trend that departs from of vehicle is not taked to correction measure; By the monitoring to turn sign and steering wheel angle signal, the intention of judging chaufeur is not turning Huo Huan road; In sum, under the operating mode shown in Fig. 6, the judged result of native system is to depart from operating mode, and control unit sends alarm command to alarm unit.
(3) alarm unit receives after the control command of control unit, at specific time point, selects suitable type of alarm issue alarm message, and wherein alarm message comprises graphicinformation, vibration information and acoustic information.
Specific embodiment two,
As shown in Figure 7, the present embodiment describe in detail vehicle from precarious position the processing method during gradually away from lane mark, as follows:
The movement tendency that the information that control unit utilizes perception unit to obtain is judged vehicle is away from lane mark, although now the distance of vehicle distances lane mark is very near, native system can not issued alarm message yet.
Specific embodiment three,
As shown in Figure 8, the present embodiment describes vehicle distances lane mark in detail very closely and is similar to the processing method of native system while being parallel to lanes, as follows:
The Safety Evaluation Index that control unit is judged vehicle is less, but after the driving intention of chaufeur is identified, find that chaufeur has the steering operation of pair bearing circle, now vehicle is to travel under the control of chaufeur, so native system can not send alarm message.
The invention provides a kind of lane departure warning system based on multi-parameter decision-making, and in conjunction with specific embodiments one, example two, example three describe working process of the present invention in detail.By analytic explanation the high rate of false alarm of this method accuracy rate low, can effectively reduce and avoid Lane Departure; Due to it, to implement easy cost low, is applicable to promoting on a large scale.
Claims (1)
1. the lane departure warning method based on multi-parameter decision-making, comprises the steps:
The first step: obtain data
By vehicle-mounted viewing system, obtain the distance in sideline, wheel tracks track and the angle of vehicle longitudinal axis and lane mark, vehicle wheel speed sensor obtains vehicle wheel rotational speed and is scaled vehicular longitudinal velocity, steering wheel angle sensor obtains the steering operation signal of chaufeur, and steering indicating light signal can directly obtain by the input interface of control unit;
Second step: calculation side is to Safety Evaluation Index
According to following formula, calculate the side direction Safety Evaluation Index of vehicle
A(u)＝0.81671+0.0002415u+0.00002356u
2
B＝0.6625
In formula, y is side direction Safety Evaluation Index, and x is the distance of wheel tracks homonymy lane mark, and u is wheel longitudinal velocity, and B is system constant;
The 3rd step: judge whether vehicle has and depart from current time
Calculated vehicle at a upper moment and next side direction Safety Evaluation Index constantly, utilizing the movement tendency of the side direction Safety Evaluation Index judgement vehicle in three moment is near lane mark or away from lane mark; If the Safety Evaluation Index of vehicle reduces gradually, vehicle movement trend is near lane mark; Otherwise, away from lane mark;
The 4th step: judge whether the trend that vehicle departs from is revised
Utilize the variable angle of vehicle longitudinal axis and lane mark to judge whether the trend that vehicle departs from is revised, the angle of vehicle longitudinal axis and lane mark is negative value and reduces gradually, illustrates the trend that departs from of vehicle is not taked to correction measure; This angle be on the occasion of and the trend that reduces gradually to depart from revised;
The 5th step: the operation intention of identification of driver
Utilize the operation intention of inputting identification of driver with the bearing circle of chaufeur of whether opening of steering indicating light signal;
The 6th step: issue alarm message
If control unit decision-making goes out wheel, departing from and do not taking to revise and arrange mistake, the operation of chaufeur to be intended to neither change or turning, to alarm unit, sending alarm command, alarm unit is according to the instruction issue alarm message receiving.
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| CN201410260342.7A CN104015725B (en) | 2014-06-11 | 2014-06-11 | A kind of lane departure warning method based on comprehensive decision |
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| CN201410260342.7A CN104015725B (en) | 2014-06-11 | 2014-06-11 | A kind of lane departure warning method based on comprehensive decision |
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| CN104015725A true CN104015725A (en) | 2014-09-03 |
| CN104015725B CN104015725B (en) | 2016-04-13 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104442815A (en) * | 2014-11-11 | 2015-03-25 | 广东好帮手电子科技股份有限公司 | Deviation early warning system and method for automobile |
| CN105620477A (en) * | 2014-10-28 | 2016-06-01 | 奇瑞汽车股份有限公司 | Lane departure early warning control method for vehicle |
| CN105711588A (en) * | 2016-01-20 | 2016-06-29 | 奇瑞汽车股份有限公司 | Lane keeping assist system and lane keeping assist method |
| CN106428002A (en) * | 2016-11-04 | 2017-02-22 | 辽宁工业大学 | Anti-collision early warning device based on active safety of vehicle and method |
| CN106915348A (en) * | 2017-02-16 | 2017-07-04 | 武汉极目智能技术有限公司 | A kind of drive assist system for lane departure warning |
| CN107031660A (en) * | 2016-02-03 | 2017-08-11 | 武汉极目智能技术有限公司 | A kind of Vehicular turn detecting system and detection method based on ADAS technologies |
| CN107826109A (en) * | 2017-09-28 | 2018-03-23 | 奇瑞汽车股份有限公司 | Track keeping method and device |
| CN108422998A (en) * | 2018-03-14 | 2018-08-21 | 合肥工业大学 | A kind of deviation supplementary controlled system and method |
| CN108437986A (en) * | 2017-02-16 | 2018-08-24 | 上海汽车集团股份有限公司 | Vehicle drive assist system and householder method |
| CN108583584A (en) * | 2018-04-12 | 2018-09-28 | 安徽江淮汽车集团股份有限公司 | A kind of deviation alarm method and system |
| CN109050536A (en) * | 2018-07-06 | 2018-12-21 | 盯盯拍（深圳）技术股份有限公司 | Automobile assistant driving method and automobile assistant driving device |
| CN109677406A (en) * | 2018-12-27 | 2019-04-26 | 清华大学苏州汽车研究院（吴江） | A kind of lane holding control method and system with risk monitoring and control |
| CN111091096A (en) * | 2019-12-20 | 2020-05-01 | 深圳市中天安驰有限责任公司 | Vehicle deviation decision method and device, storage medium and vehicle |
| CN111660928A (en) * | 2019-03-06 | 2020-09-15 | 杭州海康威视数字技术股份有限公司 | Lane departure early warning method and device and electronic equipment |
| WO2020191543A1 (en) * | 2019-03-22 | 2020-10-01 | SZ DJI Technology Co., Ltd. | System and method for lane monitoring and providing lane departure warnings |
| CN111806439A (en) * | 2020-06-30 | 2020-10-23 | 中国第一汽车股份有限公司 | Method, device and system for determining lane changing intention of driver and storage medium |
| CN113753035A (en) * | 2020-06-02 | 2021-12-07 | 奥迪股份公司 | Driving assistance system, vehicle including the same, driving assistance method, and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105620477A (en) * | 2014-10-28 | 2016-06-01 | 奇瑞汽车股份有限公司 | Lane departure early warning control method for vehicle |
| CN105620477B (en) * | 2014-10-28 | 2018-06-29 | 奇瑞汽车股份有限公司 | A kind of lane departure warning control method of vehicle |
| CN104442815A (en) * | 2014-11-11 | 2015-03-25 | 广东好帮手电子科技股份有限公司 | Deviation early warning system and method for automobile |
| CN105711588B (en) * | 2016-01-20 | 2018-05-11 | 奇瑞汽车股份有限公司 | A kind of track keeps auxiliary system and track to keep householder method |
| CN105711588A (en) * | 2016-01-20 | 2016-06-29 | 奇瑞汽车股份有限公司 | Lane keeping assist system and lane keeping assist method |
| CN107031660A (en) * | 2016-02-03 | 2017-08-11 | 武汉极目智能技术有限公司 | A kind of Vehicular turn detecting system and detection method based on ADAS technologies |
| CN106428002A (en) * | 2016-11-04 | 2017-02-22 | 辽宁工业大学 | Anti-collision early warning device based on active safety of vehicle and method |
| CN108437986A (en) * | 2017-02-16 | 2018-08-24 | 上海汽车集团股份有限公司 | Vehicle drive assist system and householder method |
| CN106915348B (en) * | 2017-02-16 | 2019-06-28 | 武汉极目智能技术有限公司 | A kind of driving assistance system for lane departure warning |
| CN106915348A (en) * | 2017-02-16 | 2017-07-04 | 武汉极目智能技术有限公司 | A kind of drive assist system for lane departure warning |
| CN107826109A (en) * | 2017-09-28 | 2018-03-23 | 奇瑞汽车股份有限公司 | Track keeping method and device |
| CN108422998A (en) * | 2018-03-14 | 2018-08-21 | 合肥工业大学 | A kind of deviation supplementary controlled system and method |
| CN108583584A (en) * | 2018-04-12 | 2018-09-28 | 安徽江淮汽车集团股份有限公司 | A kind of deviation alarm method and system |
| CN108583584B (en) * | 2018-04-12 | 2020-05-19 | 安徽江淮汽车集团股份有限公司 | Lane departure warning method and system |
| CN109050536A (en) * | 2018-07-06 | 2018-12-21 | 盯盯拍（深圳）技术股份有限公司 | Automobile assistant driving method and automobile assistant driving device |
| CN109677406A (en) * | 2018-12-27 | 2019-04-26 | 清华大学苏州汽车研究院（吴江） | A kind of lane holding control method and system with risk monitoring and control |
| CN109677406B (en) * | 2018-12-27 | 2020-05-22 | 清华大学苏州汽车研究院（吴江） | Lane keeping control method and system with risk monitoring function |
| CN111660928A (en) * | 2019-03-06 | 2020-09-15 | 杭州海康威视数字技术股份有限公司 | Lane departure early warning method and device and electronic equipment |
| CN111660928B (en) * | 2019-03-06 | 2021-11-23 | 杭州海康威视数字技术股份有限公司 | Lane departure early warning method and device and electronic equipment |
| WO2020191543A1 (en) * | 2019-03-22 | 2020-10-01 | SZ DJI Technology Co., Ltd. | System and method for lane monitoring and providing lane departure warnings |
| CN111091096A (en) * | 2019-12-20 | 2020-05-01 | 深圳市中天安驰有限责任公司 | Vehicle deviation decision method and device, storage medium and vehicle |
| CN113753035A (en) * | 2020-06-02 | 2021-12-07 | 奥迪股份公司 | Driving assistance system, vehicle including the same, driving assistance method, and medium |
| CN111806439A (en) * | 2020-06-30 | 2020-10-23 | 中国第一汽车股份有限公司 | Method, device and system for determining lane changing intention of driver and storage medium |
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