CN105620489B - Driving assistance system and vehicle real-time early warning based reminding method - Google Patents

Driving assistance system and vehicle real-time early warning based reminding method Download PDF

Info

Publication number
CN105620489B
CN105620489B CN201510980465.2A CN201510980465A CN105620489B CN 105620489 B CN105620489 B CN 105620489B CN 201510980465 A CN201510980465 A CN 201510980465A CN 105620489 B CN105620489 B CN 105620489B
Authority
CN
China
Prior art keywords
vehicle
current vehicle
pedestrian
submodule
collision
Prior art date
Application number
CN201510980465.2A
Other languages
Chinese (zh)
Other versions
CN105620489A (en
Inventor
刘国清
Original Assignee
深圳佑驾创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳佑驾创新科技有限公司 filed Critical 深圳佑驾创新科技有限公司
Priority to CN201510980465.2A priority Critical patent/CN105620489B/en
Publication of CN105620489A publication Critical patent/CN105620489A/en
Application granted granted Critical
Publication of CN105620489B publication Critical patent/CN105620489B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/10Longitudinal speed
    • B60W2520/105Longitudinal acceleration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2554/00Input parameters relating to objects
    • B60W2554/80Spatial relation or speed relative to objects
    • B60W2554/801Lateral distance
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06Road conditions

Abstract

The present invention relates to driving assistance system and vehicle real-time early warning based reminding methods, the image data of acquisition target in front of current vehicle is acquired by image capture module, again by the lane target in traffic target identification submodule identification image data, area-of-interest is marked off according to the lane target identified, and identifies target for area-of-interest as emphasis;Data processing module controls image capture module to the corresponding lane of area-of-interest as Image Acquisition target.Therefore, after being detected mainly for area-of-interest, image capture module can collect image data required for user more in time, without being acquired to all data in front, to not only reduce the collection capacity of image capture module, and reduce the data processing amount of data processing module, so that the calculation amount of whole system reduces, calculating speed is accelerated, improves the early warning reaction time.

Description

Driving assistance system and vehicle real-time early warning based reminding method

Technical field

The present invention relates to driving assistance system, the driving high more particularly to a kind of stability, the reaction time is fast assists system System and vehicle real-time early warning based reminding method.

Background technique

Traditional vehicle drive places one's entire reliance upon driver, in the case that driver experience is insufficient or fatigue driving, pole Road traffic accident easily occurs.Advanced driving assistance system, i.e. ADAS (Advanced Driver Assistance System) It is a kind of system that auxiliary driver operates vehicle.ADAS passes through the sensor being installed on vehicle or camera acquisition The data of vehicle-periphery, and collected data are handled, the information of traveling state of vehicle is provided for driver, is helped Driver is helped to make correct decision, to improve the safety of driving.

Existing ADAS detects vehicle-periphery using radar range finding, distance measuring sensor or machine vision, and according to Ambient enviroment makes corresponding prompting to driver.The angular range of radar range finding covering is small, and is easy by other radars The Electromagnetic Interference of device and communications facility.Laser range sensor can cover big angular range, but laser ranging senses The major defect of device is that high velocity environment stability inferior can reduce, and is not suitable for the vehicle odometry in running at high speed.Ranging passes Sensor is merely able to judgement with this vehicle apart from closer objects in front, and can not estimate phase of the Ben Che with front vehicles more accurately To positional relationship, and it can not judge whether front vehicles are true risk of collision.

Since existing ADAS is unable to judge accurately the specific location relationship of front vehicles Yu this vehicle, it is therefore possible at this Vehicle close to adjacent lane front vehicles when (for example, when overtaking other vehicles) issue false alarm, interfere the normal driving of driver.

Summary of the invention

Based on this, it is necessary to which the driving assistance system and vehicle real-time early warning that a kind of stability is high, the reaction time is fast are reminded Method.

A kind of driving assistance system, the system comprises:

Image capture module, for obtaining the image data in front of current vehicle in real time;

Velocity measuring module, for obtaining the speed parameter of current vehicle;

Data processing module extracts lane line for handling described image data, according to the lane line of extraction, delimit with It is area-of-interest centered on image viewpoint and using each lane line of the image viewpoint or so as the image-region on boundary, knows Acquisition target in the not described area-of-interest according to the speed parameter of the current vehicle, obtains the acquisition target and works as The relative position parameter of vehicle in front;Judge whether the relative position parameter reaches collision threshold, when the relative parameter values reach It is issued warning signal when to collision threshold.

The acquisition target includes preceding to vehicle, lane line and/or pedestrian in one of the embodiments,;Then, the number Include: according to processing module

Traffic target identifies submodule, for extracting lane line, being obtained according to the lane line of extraction according to described image data The area-of-interest is obtained, and identifies forward direction vehicle and/or pedestrian in the area-of-interest;

Wherein, the data processing module includes at least one of following three submodules:

Forward direction vehicle collision prewarning submodule, the forward direction vehicle collision prewarning submodule identify son in the traffic target When module identifies front vehicles, the first relative position parameter between current vehicle and front vehicles is obtained, judges described the Whether one relative position parameter reaches the first collision threshold, the sending when first relative parameter values reach the first collision threshold It exports to the first pre-warning signal of the warning module, to export display;

Pedestrian impact early warning submodule, the pedestrian impact early warning submodule is in traffic target identification submodule identification Out when pedestrian, the second relative position parameter between current vehicle and pedestrian is obtained, judges that second relative position parameter is It is no to reach the second collision threshold, output is issued when second relative parameter values reach the second collision threshold to the early warning mould Second pre-warning signal of block, to export display;With,

Lane departure warning submodule, the lane departure warning submodule are used to identify submodule according to the traffic target The lane line that block identifies calculates the front-wheel intended contact of current vehicle to the remaining time of lane line, when judging the residue Between whether reach secure threshold, when the remaining time reaching secure threshold issue output to the warning module third it is pre- Alert signal, to export display.

The traffic target identifies that submodule is also based on contour of the vehicle feature templates and judges institute in one of the embodiments, It states with the presence or absence of front vehicles in area-of-interest, when the preceding vehicle is recognized to the forward direction vehicle collision prewarning submodule The first operation signal is issued, according to first operation signal, the forward direction vehicle collision prewarning submodule obtains current vehicle The travel speed and acceleration of the distance between front vehicles and current vehicle relative to front vehicles, and calculate and work as front truck There is the estimated collision time collided with front vehicles, as first relative position parameter.

Resemblance module judgement of the traffic target identification submodule also based on pedestrian in one of the embodiments, It whether there is pedestrian in the area-of-interest, when identifying pedestrian, Xiang Suoshu pedestrian impact early warning submodule issues second Operation signal, according to second operation signal, the pedestrian impact early warning submodule is obtained between current vehicle and pedestrian Travel speed and acceleration relative to pedestrian of distance and current vehicle, and calculate current vehicle occur colliding with pedestrian it is pre- Collision time is counted, as second relative position parameter.

The traffic target identification submodule is also used to identify the traffic of described image data in one of the embodiments, Mark, obtains the situation of change and/or current state of the traffic sign;

Wherein, the data processing module further includes traffic sign intelligent reminding submodule,

It is described that the traffic sign intelligent reminding submodule output prompts the traffic target identification submodule to identify The situation of change and/or current state of traffic sign.

The lane departure warning submodule is also used to identify son according to the traffic target in one of the embodiments, The lane line that module identifies, calculate current vehicle front-wheel relative to lane line lateral distance and current vehicle it is lateral Migration velocity, and the laterally offset speed is compared with a preset threshold, it is preset when the laterally offset speed is less than When threshold value, then according to the laterally offset speed and the lateral distance, the remaining time is calculated.

The system also includes warning modules in one of the embodiments, for receiving the pre-warning signal and exporting Display, wherein the warning module is included at least with one of lower module:

Voice cue module generates voice signal for receiving the pre-warning signal that the data processing module issues, to Early warning is carried out to user;

Flash for prompting module generates optical flare signal for receiving the pre-warning signal that the data processing module issues, uses To carry out early warning to user;With,

Display module, for showing described image data and the speed data, and data processing mould described in Overlapping display The pre-warning signal that block issues.

A kind of vehicle real-time early warning based reminding method, which comprises

Image data in front of acquisition current vehicle in real time;

Described image data are handled, lane line is extracted;

According to the lane line of extraction, delimit centered on image viewpoint and with each lane line of the image viewpoint or so Image-region for boundary is area-of-interest;

Identify the acquisition target in the area-of-interest;

The speed parameter of current vehicle is obtained,

According to the speed parameter of the current vehicle, the relative position parameter of the acquisition target and current vehicle is obtained;

Judge whether the relative position parameter reaches collision threshold, if so, issuing alarm signal.

The acquisition target includes preceding to vehicle, lane line and/or pedestrian in one of the embodiments,;Then, described According to the speed parameter of the current vehicle, the relative position parameter for acquiring target and current vehicle is obtained, judges the phase Whether collision threshold is reached to location parameter, if so, the process for issuing alarm signal one of at least includes the following steps:

When the acquisition target is front vehicles, the first relative position obtained between current vehicle and front vehicles is joined Number, judges whether first relative position parameter reaches the first collision threshold, when first relative parameter values reach first The first pre-warning signal that output to the warning module is issued when collision threshold, to export display;

When the acquisition target is pedestrian, the second relative position parameter between current vehicle and pedestrian is obtained, judges institute State whether the second relative position parameter reaches the second collision threshold, when second relative parameter values reach the second collision threshold The second pre-warning signal for issuing output to the warning module, to export display;With,

When the acquisition target is lane line, according to the lane line, the front-wheel intended contact of current vehicle is calculated to vehicle The remaining time of diatom, judge whether the remaining time reaches secure threshold, when the remaining time reaching secure threshold The third pre-warning signal for issuing output to the warning module, to export display.

In one of the embodiments, according to the distance between current vehicle and front vehicles and current vehicle relative to The travel speed and acceleration of front vehicles, calculate current vehicle and the estimated collision time collided occur in front vehicles, as First relative position parameter;

Travel speed and acceleration according to the distance between current vehicle and pedestrian and current vehicle relative to pedestrian, It calculates current vehicle and the estimated collision time collided occurs in pedestrian, as second relative position parameter;

According to the lane line, lateral distance and current vehicle of the current vehicle front-wheel relative to lane line are calculated Laterally offset speed, and the laterally offset speed is compared with a preset threshold, when the laterally offset speed is less than When preset threshold, then according to the laterally offset speed and the lateral distance, the remaining time is calculated.

Above-mentioned driving assistance system and vehicle real-time early warning based reminding method, before acquiring current vehicle by image capture module The image data of side's acquisition target, then by the lane target in traffic target identification submodule identification image data, according to identification Lane target out marks off area-of-interest, and identifies target for area-of-interest as emphasis;Data processing module control Image capture module is to the corresponding lane of area-of-interest as Image Acquisition target.Data processing module is adopted for handling image Collect the image data of module output and the speed data of velocity measuring module, and is judged according to described image data and speed data Whether current vehicle and acquisition target reach collision threshold, if so, data processing module issues in advance for controlling warning module Alert signal.Therefore, after being detected mainly for area-of-interest, image capture module can collect user institute more in time The image data needed, without being acquired to all data in front, so that the collection capacity of image capture module is not only reduced, And reduce the data processing amount of data processing module, so that the calculation amount of whole system reduces, calculating speed is accelerated, improves Early warning reaction time.

Detailed description of the invention

Fig. 1 is the module map of driving assistance system;

Fig. 2 is the preceding work flow diagram to vehicle collision prewarning submodule;

Fig. 3 is the work flow diagram of the sub- warning module of pedestrian impact;

Fig. 4 is the work flow diagram of the sub- warning module of deviation;

Fig. 5 is the display result schematic diagram of display module;

Fig. 6 is the flow chart of vehicle real-time early warning based reminding method.

Specific embodiment

To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein Described embodiment.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more saturating It is thorough comprehensive.

It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side " and similar statement are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool Body embodiment purpose, it is not intended that in limitation the present invention.Term as used herein "and/or" includes one or more phases Any and all combinations of the listed item of pass.

As shown in Figure 1, being the structural schematic diagram of driving assistance system.

A kind of driving assistance system, including image capture module 101, velocity measuring module 102, data processing module 20 and Warning module 40.

Described image acquisition module 101 for obtaining the image data in front of current vehicle in real time;

The velocity measuring module 102 is used to obtain the speed parameter of current vehicle;

The data processing module 20 extracts lane line, according to the lane line of extraction, draws for handling described image data Determine centered on image viewpoint and is region of interest using each lane line of the image viewpoint or so as the image-region on boundary Domain identifies the acquisition target in the area-of-interest, according to the speed parameter of the current vehicle, obtains the acquisition target With the relative position parameter of current vehicle;Judge whether the relative position parameter reaches collision threshold, when the relative parameter Value issues warning signal when reaching collision threshold;

Warning module 40 is for receiving the pre-warning signal and exporting display.

In the present embodiment, image capture module 101 is set to front of the car.Preferably, image capture module 101 uses Camera.

Velocity measuring module 102 is set in on-vehicle host, and velocity measuring module 102 is GPS velocity detection module.Data Processing module 20 is set in on-vehicle host.

Velocity measuring module 101 in above-mentioned driving assistance system can use GPS device, can also be using other speed Spend detection device, such as relative type motor photoelectric encoder or fifth wheel instrument.

In vehicle traveling, the image capture module 101 by the way that front of the car is arranged in acquires driving assistance system in real time The road image of vehicle front, acquires the travel speed of this vehicle by velocity measuring module 102 in real time, and by acquired image With the velocity information input data processing module 20 detected.

Specifically, data processing module 20 identifies the lane target in image according to the image information of input first.According to The lane information interested area division (ROI) identified.Each lane of current lane and left and right is center region.The region Interior vehicle and pedestrian is all emphasis identification target.It is fringe region other than central area, does not detect.By dividing ROI Algorithm performance is improved, the reaction time is accelerated.

Above-mentioned driving assistance system to solve ADAS in the prior art be not available a camera and meanwhile realize before to The technical issues of vehicle collision prewarning and lane departure warning.Meanwhile above-mentioned driving assistance system can also be identified including pedestrian, vehicle , all kinds of traffic targets including road, sign board, improve the intelligence degree of ADAS, realize pedestrian collision detection friendship The functions such as logical mark intelligent reminding.Meanwhile the information such as vehicle, pedestrian are provided in top view.

For example, in one embodiment, above-mentioned data processing module 20 includes that traffic target identifies submodule 201, it is used for According to above-mentioned image data, lane line is extracted, above-mentioned area-of-interest is obtained according to the lane line of extraction, and identify that above-mentioned sense is emerging Forward direction vehicle and/or pedestrian in interesting region.And the acquisition target identified in area-of-interest may include before to vehicle, Lane line and/or pedestrian.Therefore when carrying out the calculating of relative position parameter, can be for characterize current vehicle and vehicle, The relative position of lane line or pedestrian, for example, distance parameter, estimated collision time parameter etc..So above-mentioned data processing mould Block 20 includes at least one of following three submodules.

Forward direction vehicle collision prewarning submodule 202, above-mentioned forward direction vehicle collision prewarning submodule 202 is in above-mentioned traffic target When identification submodule 201 identifies front vehicles, the first relative position parameter between current vehicle and front vehicles is obtained, is sentenced Whether above-mentioned first relative position parameter of breaking reaches the first collision threshold, when above-mentioned first relative parameter values reach the first collision threshold The first pre-warning signal that output to above-mentioned warning module 40 is issued when value, to export display.

Pedestrian impact early warning submodule 203, above-mentioned pedestrian impact early warning submodule 203 identify submodule in above-mentioned traffic target When block 201 identifies pedestrian, the second relative position parameter between current vehicle and pedestrian is obtained, judges the above-mentioned second opposite position It sets whether parameter reaches the second collision threshold, it is supreme that output is issued when above-mentioned second relative parameter values reach the second collision threshold The second pre-warning signal for stating warning module 40, to export display;With,

Lane departure warning submodule 204, above-mentioned lane departure warning submodule 204 are used to be known according to above-mentioned traffic target The lane line that small pin for the case module 201 identifies calculates the front-wheel intended contact of current vehicle to the remaining time of lane line, in judgement It states whether remaining time reaches secure threshold, output is issued when above-mentioned remaining time reaching secure threshold to above-mentioned warning module 40 third pre-warning signal, to export display.

In the present embodiment, main functional modules relevant to traffic safety include preceding to vehicle collision prewarning in ADAS FVCWS (Forward Vehicle Collision Warning System) and lane departure warning LDWS (Lane Departure Warning System).Forward direction vehicle collision prewarning real-time detection vehicle and front in vehicle travel process The distance of vehicle, when vehicle and front vehicles hypotelorism, system issues early warning, and driver is reminded to reduce speed, brake system It is dynamic, or other measures is taken to avoid colliding with front vehicles.

Certainly, above-mentioned first relative parameter values and above-mentioned second relative parameter values can be estimated collision time, corresponding First collision threshold and the second collision threshold can be set as the secure threshold based on time measure.For example, forward direction vehicle collision Early warning submodule 202 obtains the estimated collision time of current vehicle and front vehicles, judges whether estimated collision time reaches the One collision threshold issues the first early warning of output to above-mentioned warning module 40 when estimated collision time reaches the first collision threshold Signal, to export display.Alternatively,

Pedestrian impact early warning submodule 203 obtains the estimated collision time of current vehicle and pedestrian, when judging estimated collision Between whether reach the second collision threshold, output is issued when estimated collision time reaches the second collision threshold to above-mentioned warning module 40 the second pre-warning signal, to export display.

The anticipation that collision may be implemented using the embodiment of the present invention, especially in the case where running at high speed, so that LDWS Have the function of prejudging, for example, when the trend of run-off-road occurs in vehicle, it just should be to driver before front-wheel crimping It issues warning signal, reminds the timely adjustment direction of driver;Or when the front vehicles or row in Ben Che and the same lane in front It alarms in advance when people collides in advance, reserves enough reaction time and correction for direction time for driver, make vehicle collision report Alert system is more accurate, it is timely, be swift in response.

Further, in an example, above-mentioned traffic target identification submodule 201 is also based on contour of the vehicle character modules Plate judges with the presence or absence of front vehicles in above-mentioned area-of-interest, pre- to above-mentioned forward direction vehicle collision when the preceding vehicle is recognized Alert submodule 202 issues the first operation signal, according to above-mentioned first operation signal, above-mentioned forward direction vehicle collision prewarning submodule 202 obtain the travel speed and acceleration of the distance between current vehicle and front vehicles and current vehicle relative to front vehicles Degree, and calculate current vehicle and the estimated collision time collided occur with front vehicles, as above-mentioned first relative position parameter.

Forward direction vehicle collision prewarning submodule 202 is used to identify the vehicle that submodule 201 identifies according to above-mentioned traffic target Diatom identifies that vehicle can judge that front is with the presence or absence of vehicle in same lane in the area-of-interest of delimitation, thus The calculating target lock-on of collision in the target in same lane, to reduce invalid computation, is being improved into meter with this vehicle Calculate speed.When judging in same lane that there are when front vehicles, then above-mentioned forward direction vehicle collision prewarning submodule 202 is for calculating The travel speed and acceleration of the distance between current vehicle and front vehicles and current vehicle relative to front vehicles out, and Travel speed and accelerometer according to the distance between current vehicle and front vehicles and current vehicle relative to front vehicles Estimated collision time is calculated, judges whether the collision time is less than secure threshold, if so, forward direction vehicle collision prewarning submodule Block 202 issues the first pre-warning signal for controlling the warning module 40, if it is not, then terminate this time to judge, into next time Judgement.First pre-warning signal can be prompt the distance between current vehicle and front vehicles, estimated collision time etc. information, It is same herein.When judging that front vehicles are not present in same lane, then terminate this time to judge, into judgement next time.

Specifically, the work flow diagram of forward direction vehicle collision prewarning submodule 202 is as shown in Figure 2.First according to traffic mesh Vehicle and the lane line that small pin for the case module 201 identifies are identified to judge that front is with the presence or absence of vehicle in same lane, if it does, The travel speed and acceleration that this vehicle is at a distance from front vehicles and this vehicle is relative to front vehicles are calculated first.By right The calculating of distance and relative velocity, relative acceleration can calculate estimated collision time, that is, keep current relative velocity and In the case that acceleration is constant, Ben Che and front vehicles collide and also need elapsed time.If it is expected that collision time is small It in secure threshold, is issued warning signal to voice cue module 401, voice cue module 401 issues anti-collision warning to driver Voice signal.

In one embodiment, resemblance module judgement of the above-mentioned traffic target identification submodule 201 also based on pedestrian It whether there is pedestrian in above-mentioned area-of-interest, when identifying pedestrian, Xiang Shangshu pedestrian impact early warning submodule 203 issues the Two operation signals, according to above-mentioned second operation signal, above-mentioned pedestrian impact early warning submodule 203 obtain current vehicle and pedestrian it Between travel speed and acceleration relative to pedestrian of distance and current vehicle, and calculate current vehicle and collided with pedestrian Estimated collision time, as above-mentioned second relative position parameter.

Above-mentioned pedestrian impact early warning submodule 203 is used to identify the vehicle that submodule 201 identifies according to above-mentioned traffic target Diatom identifies that vehicle can judge that front is with the presence or absence of pedestrian in same lane in the area-of-interest of delimitation, thus will The calculating target lock-on of collision in the target in same lane, to reduce invalid computation, is improving calculating with this vehicle Speed.When judging in same lane that there are when pedestrian, then above-mentioned pedestrian impact early warning submodule 203 is for calculating current vehicle The travel speed and acceleration of the distance between pedestrian and current vehicle relative to pedestrian.When judging not deposit in same lane In pedestrian, then terminate this time to judge, into judgement next time.

Pedestrian impact early warning submodule 203 is also used to according to the distance between current vehicle and pedestrian and current vehicle phase Travel speed and accelerometer for pedestrian calculate estimated collision time, and judge whether above-mentioned collision time is less than safety threshold Value, if so, pedestrian impact early warning submodule 203 issues the second pre-warning signal for controlling above-mentioned warning module 40, if it is not, then Terminate this time to judge, into judgement next time.First pre-warning signal can be prompt the distance between current vehicle and pedestrian, It is expected that collision time etc. information, herein together.

Specifically, the work flow diagram of pedestrian impact early warning submodule 203 is as shown in Figure 3.Son is identified according to traffic target The recognition result of module 201 judges whether vehicle front has pedestrian, if there is pedestrian, calculates this vehicle first at a distance from pedestrian, Then travel speed and acceleration of this vehicle relative to pedestrian are calculated.According to distance and velocity information, estimated collision can be calculated Time then issues warning signal to voice cue module 401, voice prompting mould if it is expected that collision time is less than secure threshold Block 401 issues the voice signal of pedestrian impact early warning to driver.

In addition, data processing module 20 further includes traffic sign intelligent reminding submodule 204, above-mentioned traffic sign is intelligently mentioned Submodule 204 of waking up is used to prompt user according to the traffic sign that above-mentioned traffic target identifies that submodule 201 identifies.

Traffic target identification submodule 201 is also used to identify the traffic sign of above-mentioned image data, obtains traffic sign Situation of change and/or current state, for example, current state refers to the current state of current crossroads traffic light, roadside direction board Information etc..And the situation of change of traffic sign can refer to that the pre- traffic lights for reaching crossing change to green light from red light, or from green Lamp changes to the state change time of red light needs.Concrete mode can be, and collects the switching cycle for closing on two traffic lights, is based on The Conventional Time of the mechanical periodicity estimates the state change of next traffic lights according to the current state of current crossroads traffic light Time, and prompt is made to user.For example, being red light when vehicle advances to current crossing, then proceeding to from current crossing During next crossing, the next crossing of user is reminded to need how long to become red light or become green light.

Traffic sign intelligent reminding submodule 204 identifies the traffic sign pair that submodule 201 recognizes according to traffic target Driver carries out intelligent reminding.When non-bus on bus zone when driving, traffic sign intelligent reminding submodule 204 to Voice cue module 401 issues signal and driver is reminded to sail out of bus zone.In conjunction with speed(-)limit sign and GPS road information, work as hair When raw hypervelocity, intelligent reminding submodule can issue signal to voice cue module and driver is reminded not exceed the speed limit.Different from general The included overspeed prompting of GPS navigation equipment, traffic sign intelligent reminding submodule 204 are also used to identify the speed(-)limit sign in roadside, If the speed limit in speed and GPS navigation information on speed(-)limit sign is inconsistent (possible GPS road information does not timely update), It will judge whether current vehicle exceeds the speed limit using the speed on speed(-)limit sign as standard, driver is reminded to slow down in time.

In a present embodiment, above-mentioned lane departure warning submodule 205 is used to identify son according to above-mentioned traffic target The lane line computation vehicle front-wheel that module 201 identifies is relative to the lateral distance of lane line and the laterally offset speed of vehicle Degree, and above-mentioned laterally offset speed is compared with a preset threshold, when the laterally offset speed is less than preset threshold It indicates that the deviation of non-active property has occurred, is otherwise initiative deviation, judge it is non-whether vehicle has occurred with this The deviation of initiative.

When laterally offset speed is less than preset threshold, that is, the deviation of non-active property, lane departure warning has occurred Submodule 205 is used to calculate vehicle front-wheel according to above-mentioned laterally offset speed and above-mentioned lateral distance and touches the surplus of lane line Whether the remaining time is less than secure threshold, if so, above-mentioned lane departure warning submodule 205 is for controlling above-mentioned warning module hair Third pre-warning signal out, if it is not, then terminating this time to judge, into judgement next time.Third pre-warning signal can be prompt and work as The distance between vehicle in front and lane line, estimated collision time etc. information, herein together.When laterally offset speed is greater than default threshold When value, that is, the deviation of initiative has occurred, then terminate this time to judge, into judgement next time.

It is non-master to judge whether vehicle has occurred by the detection and tracking to lane line for lane departure warning submodule 205 The deviation of dynamic property.When the deviation of non-active property occurs for vehicle, early warning is issued, driver is reminded to correct the row of vehicle Direction is sailed, avoids colliding with the vehicle in other lanes.Lane departure warning submodule 205 depends on machine vision, Road image is acquired by the camera being installed on vehicle, and using in machine vision algorithm real-time detection and tracking image Lane line information judges whether vehicle has occurred the deviation of non-active property with this.

Specifically, the work flow diagram of lane departure warning submodule 205 is as shown in Figure 4.Firstly, according to the speed of input Information and the traffic target lane line that detects of identification submodule 201 come calculate vehicle front-wheel relative to lane line it is lateral away from From and vehicle laterally offset speed.Then, the vehicle of non-active property whether has occurred according to laterally offset velocity estimated vehicle Road deviates, in general, deviation speed corresponding to the deviation (for example lane change is overtaken other vehicles) of active is larger, rather than the lane of initiative It is smaller to deviate corresponding deviation speed, if migration velocity is less than threshold value, then it is assumed that the lane of non-active property has occurred in vehicle Deviate.In the case where non-active property deviation occurs, vehicle front-wheel is calculated according to lateral distance and laterally offset speed The remaining time of lane line is touched, if remaining time is less than secure threshold, issues early warning letter to voice cue module 401 Number, voice cue module 401 issues the voice signal of lane departure warning to driver.

In the present embodiment, warning module 40 includes voice cue module 401 and flash for prompting module 402, above-mentioned voice Cue module 401 is used to receive the pre-warning signal that the data processing module issues and generates voice signal to carry out in advance to user Alert prompt, above-mentioned flash for prompting module 402 are used to receive the pre-warning signal that the data processing module issues and generate flash signal To carry out early warning to user.

Warning module 40 be arranged in it is in on-vehicle host, for when vehicle is in dangerous situation to driver's early warning.

In addition, driving assistance system further includes display module 301 in a present embodiment, above-mentioned display module 301 is used In receive the image data that above-mentioned image capture module 101 exports, the speed data of above-mentioned velocity measuring module 102 output and on State the processing data of the output of data processing module 20.Alternatively, display module is for showing above-mentioned image data and above-mentioned number of speed According to, and the pre-warning signal that the above-mentioned data processing module of Overlapping display issues.For example, in the image presented based on above-mentioned image data The above-mentioned speed data of upper prompt and corresponding pre-warning signal.

Display module 301 is arranged in on-vehicle host, for showing traveling state of vehicle.

Incorporated by reference to Fig. 5, display module 301 shows the information of each submodule output in the form of top view.This system will The information that each submodule is collected into is shown in top plan view on middle control display.By the visual angle of vertical view, driver can To see the relative position of front vehicles and pedestrian at a glance.

Head-up display device also can be selected other than middle control screen in display module 301.Head-up display device can shield middle control The display of curtain projects on windshield.Driver need not bow in this way, so that it may information be seen, to avoid dispersion to front The attention of road.Driver also need not adjust eyes between instrument in the road for observing a distant place and nearby, can avoid eyes Fatigue.

Above-mentioned driving assistance system acquires road image by a vehicle-mounted camera, does not need to install additional ranging biography Sensor simplifies system structure compared to existing ADAS, conducive to being widely popularized in practice.The ADAS proposed specifically can be achieved The functional modules such as traffic target identification, forward direction vehicle collision prewarning, lane departure warning and pedestrian impact early warning.

Forward direction vehicle collision prewarning submodule 202 in above-mentioned driving assistance system identifies submodule by using traffic target The result of block 201, it can be determined that whether front vehicles and this vehicle are in the same lane, before in Ben Che and the same lane When square vehicle distances are excessively close, early warning can be issued to driver.Traditional forward direction vehicle collision realized using distance measuring sensor is pre- The vehicle and this vehicle that police can not judge front can generate false alarm whether in the same lane when overtaking other vehicles.The present invention The forward direction vehicle collision prewarning proposed solves problem above, compared with traditional forward direction vehicle collision prewarning, improves pre- Alert accuracy, reduces false alarm.

Pedestrian impact early warning submodule 203 in above-mentioned driving assistance system can issue early warning before vehicle front-wheel crimping Signal makes direction adjustment operation to driver's time enough.

All kinds of traffic mesh that can be identified including pedestrian, vehicle, road, sign board in above-mentioned driving assistance system Mark, realizes pedestrian collision detection and traffic sign intelligent reminding, improves the intelligence degree of ADAS.Pedestrian collision detection function Driver can be reminded to avoid pedestrian in time, ensure the safety of pedestrian.Traffic sign intelligent reminding function reminds driver to abide by Traffic rules, drive with caution operation, further improves the safety of driving.

Above-mentioned driving assistance system acquires the picture number of acquisition target in front of current vehicle by image capture module 101 According to, then by the lane target in the traffic target identification identification image data of submodule 201, divided according to the lane target identified Area-of-interest out, and target is identified using area-of-interest as emphasis;Data processing module 20 controls image capture module 101 To the corresponding lane of area-of-interest as Image Acquisition target.Data processing module 20 is for handling image capture module 101 The image data of output and the speed data of velocity measuring module, and front truck is worked as according to above-mentioned image data and speed data judgement With acquisition target whether reach collision threshold, if so, data processing module 20 for control warning module 40 issue early warning Signal.Therefore, after being detected mainly for area-of-interest, image capture module 101 can collect user more in time Required image data, without being acquired to all data in front, to not only reduce the acquisition of image capture module Amount, and reduce the data processing amount of data processing module 20, so that the calculation amount of whole system reduces, calculating speed adds Fastly, the early warning reaction time is improved.

In addition, above-mentioned image capture module 101, velocity measuring module 102, data processing module 20 can be inherited at one On hardware device comprising camera, then pass through wireless network or cable network and car-mounted display equipment or mobile terminal phase Even, and the pre-warning signal of development is sent to car-mounted display equipment or mobile terminal carries out display alarm.So based on above-mentioned System additionally provides a kind of vehicle that can be applied in the vehicle early warning equipment comprising camera in one embodiment of the invention Real-time early warning based reminding method comprising following steps:

Incorporated by reference to Fig. 6.

Step 110, the image data in front of current vehicle is acquired in real time;

Step 120, above-mentioned image data is handled, lane line is extracted;

Step 130, it according to the lane line of extraction, delimit centered on image viewpoint and with image viewpoint or so each one Lane line is that the image-region on boundary is area-of-interest;

Step 140, the acquisition target in above-mentioned area-of-interest is identified;

Step 150, the speed parameter of current vehicle is obtained,

Step 160, according to the speed parameter of above-mentioned current vehicle, the opposite position of above-mentioned acquisition target and current vehicle is obtained Set parameter;

Step 170, judge whether above-mentioned relative position parameter reaches collision threshold, if so, issuing alarm signal.If It is no, then terminate this time to judge, into judgement next time, return step 110.

For example, in one embodiment, above-mentioned acquisition target can be vehicle, lane line, and/or pedestrian.And it is emerging feeling The acquisition target identified in interesting region may include preceding to vehicle, lane line and/or pedestrian, acquisition target lock-on can be existed With vehicles or pedestrians of this vehicle in same lane.In fact, the front vehicles, pedestrian only in the same lane just have It may collide with this vehicle.So first locking the range of collision calculation, early warning effect can be improved to avoid false alarm in this way, And reduce calculation amount.

In addition, when carrying out the calculating of relative position parameter, can be for characterize current vehicle and vehicle, lane line or The relative position of pedestrian, for example, distance parameter, estimated collision time parameter etc..So in the above method, above-mentioned acquisition mesh Mark includes preceding to vehicle, lane line and/or pedestrian;Then, the above-mentioned speed parameter according to above-mentioned current vehicle, the above-mentioned acquisition of acquisition The relative position parameter of target and current vehicle, judges whether above-mentioned relative position parameter reaches collision threshold, if so, issuing The process of alarm signal one of at least includes the following steps:

When above-mentioned acquisition target is front vehicles, the first relative position obtained between current vehicle and front vehicles is joined Number, judges whether above-mentioned first relative position parameter reaches the first collision threshold, when above-mentioned first relative parameter values reach first The first pre-warning signal that output to above-mentioned warning module is issued when collision threshold, to export display, if it is not, then terminating this time to sentence It is disconnected, into judgement next time;

When above-mentioned acquisition target is pedestrian, the second relative position parameter between current vehicle and pedestrian is obtained, in judgement State whether the second relative position parameter reaches the second collision threshold, when above-mentioned second relative parameter values reach the second collision threshold The second pre-warning signal for issuing output to above-mentioned warning module, to export display, if it is not, then terminating this time to judge, under Primary judgement;With,

When above-mentioned acquisition target is lane line, according to above-mentioned lane line, the front-wheel intended contact of current vehicle is calculated to vehicle The remaining time of diatom, judge whether above-mentioned remaining time reaches secure threshold, when above-mentioned remaining time reaching secure threshold The third pre-warning signal for issuing output to above-mentioned warning module, to export display, if it is not, then terminating this time to judge, under Primary judgement.

Certainly, above-mentioned first relative parameter values and above-mentioned second relative parameter values can be estimated collision time, corresponding First collision threshold and the second collision threshold can be set as the secure threshold based on time measure.For example, utilizing current vehicle With the estimated collision time of front vehicles, judge whether estimated collision time reaches the first collision threshold, when estimated collision time The first pre-warning signal that output to above-mentioned warning module is issued when reaching the first collision threshold, to export display, if it is not, then tying Beam this time judges, into judgement next time.Alternatively, judgement is estimated to touch using the estimated collision time of current vehicle and pedestrian It hits whether the time reaches the second collision threshold, output is issued when estimated collision time reaches the second collision threshold to above-mentioned early warning Second pre-warning signal of module, to export display, if it is not, then terminating this time to judge, into judgement next time.

The anticipation that collision may be implemented using the embodiment of the present invention, especially in the case where running at high speed, so that LDWS Have the function of prejudging, for example, when the trend of run-off-road occurs in vehicle, it just should be to driver before front-wheel crimping It issues warning signal, reminds the timely adjustment direction of driver;Or when the front vehicles or row in Ben Che and the same lane in front It alarms in advance when people collides in advance, reserves enough reaction time and correction for direction time for driver, make vehicle collision report Alert system is more accurate, it is timely, be swift in response.

Further, in one embodiment, based on contour of the vehicle feature templates judge in above-mentioned area-of-interest whether There are front vehicles, when the preceding vehicle is recognized, obtain the distance between current vehicle and front vehicles and current vehicle phase For the travel speed and acceleration of front vehicles, and calculate current vehicle and when the estimated collision collided occur in front vehicles Between, as above-mentioned first relative position parameter.According to the lane line identified, vehicle is identified in the area-of-interest of delimitation Can judge in same lane front with the presence or absence of vehicle, thus by the calculating target lock-on of collision with this vehicle in same vehicle In target in road, to reduce invalid computation, calculating speed is improved.When judging that there are front vehicles in same lane When, then on calculate the travel speed of the distance between current vehicle and front vehicles and current vehicle relative to front vehicles And acceleration, and the traveling speed according to the distance between current vehicle and front vehicles and current vehicle relative to front vehicles Degree and accelerometer calculate estimated collision time, judge whether the collision time is less than secure threshold, if so, issuing first Pre-warning signal, if it is not, then terminating this time to judge, into judgement next time.When judging in same lane there is no front vehicles When, then terminate this time to judge, into judgement next time.

In one embodiment, the resemblance module based on pedestrian judges in above-mentioned area-of-interest with the presence or absence of row People, when identifying pedestrian, Xiang Shangshu pedestrian impact early warning submodule issues the second operation signal, is believed according to above-mentioned second operation Number, above-mentioned pedestrian impact early warning submodule obtains the distance between current vehicle and pedestrian and current vehicle relative to pedestrian's Travel speed and acceleration, and calculate current vehicle and the estimated collision time collided occur with pedestrian, it is opposite as above-mentioned second Location parameter.

Identify that vehicle can judge in same lane in the area-of-interest of delimitation according to the lane line identified Front whether there is pedestrian, thus by the calculating target lock-on of collision with this vehicle in the target in same lane, to subtract Lack invalid computation, improves calculating speed.When judging then to calculate current vehicle and pedestrian there are when pedestrian in same lane The distance between and travel speed and acceleration of the current vehicle relative to pedestrian.According between current vehicle and pedestrian away from From and current vehicle relative to the travel speed and accelerometer of pedestrian calculate estimated collision time, and when judging above-mentioned collision Between whether be less than secure threshold, if so, pedestrian impact early warning submodule 203 issues second for controlling above-mentioned warning module 40 Pre-warning signal, if it is not, then terminating this time to judge, into judgement next time.When judging that pedestrian is not present in same lane, then Terminate this time to judge, into judgement next time.

In addition, in one embodiment, the above method further includes,

It identifies the traffic sign in above-mentioned image data, obtains the situation of change and/or current state of traffic sign.Specifically Ground may include: the current state for obtaining current crossroads traffic light, the information of roadside direction board etc..Alternatively, obtaining pre- reach The traffic lights at crossing change to green light from red light, or change to the state change time that red light needs from green light.The latter is implementing During may comprise steps of:

Firstly, collecting the switching cycle of traffic lights between storage adjacent intersection, or it is manually entered red between adjacent intersection The switching cycle of green light.The mode for collecting storage can store crossroads traffic light information after first time is detected, and then integrate again It calculates.

Then, it is estimated next based on the Conventional Time of the mechanical periodicity according to the current state of current crossroads traffic light The state change time of traffic lights;

Secondly, exporting the state change time, and prompt is made to user.

For example, being red light when vehicle advances to current crossing, then in the mistake for proceeding to next crossing from current crossing Cheng Zhong reminds the next crossing of user to need how long to become red light or become green light.

In a present embodiment, the lane line computation vehicle that submodule 201 identifies is identified according to above-mentioned traffic target Front-wheel is and pre- by above-mentioned laterally offset speed and one relative to the lateral distance of lane line and the laterally offset speed of vehicle If threshold value is compared, the deviation that non-active property has occurred is indicated when the laterally offset speed is less than preset threshold, Otherwise it is initiative deviation, judges whether vehicle has occurred the deviation of non-active property with this.When laterally offset speed When degree is less than preset threshold, vehicle front-wheel is calculated according to above-mentioned laterally offset speed and above-mentioned lateral distance and touches lane line Remaining time whether be less than secure threshold, if so, issue third pre-warning signal, if it is not, then terminating this time to judge, under Primary judgement.When laterally offset speed is greater than preset threshold, then terminate this time to judge, into judgement next time.

By the detection and tracking to lane line, judge whether vehicle has occurred the deviation of non-active property.Work as vehicle When the deviation of non-active property occurs, early warning is issued, reminds driver to correct the driving direction of vehicle, avoids and other lanes Vehicle collide.The present embodiment depends on machine vision, acquires road image by the camera being installed on vehicle, and Using the lane line information in machine vision algorithm real-time detection and tracking image, judge that it is non-master whether vehicle has occurred with this The deviation of dynamic property.

Can identify in above-mentioned vehicle real-time early warning based reminding method is each including pedestrian, vehicle, road, sign board Class traffic target realizes pedestrian collision detection and traffic sign intelligent reminding, improves the intelligence degree of ADAS.Pedestrian touches Hitting detection function reminds driver to avoid pedestrian in time, has ensured the safety of pedestrian.The prompting of traffic sign intelligent reminding function is driven The person of sailing observes traffic rules and regulations, and drive with caution operation, further improves the safety of driving.Also, by by data acquisition and Calculation amount is locked in certain range of interest, so that anti-collision warning accuracy of having deducted a percentage, reduces data processing amount, so that The calculation amount of whole system reduces, calculating speed is accelerated, improves the early warning reaction time.

Each technical characteristic of above above-described embodiment can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (6)

1. a kind of driving assistance system, which is characterized in that the system comprises:
Image capture module, for obtaining the image data in front of current vehicle in real time;
Velocity measuring module, for obtaining the speed parameter of current vehicle;
Data processing module extracts lane line, according to the lane line of extraction, delimit with image for handling described image data It is area-of-interest centered on viewpoint and using each lane line of the image viewpoint or so as the image-region on boundary, identifies institute The acquisition target in area-of-interest is stated, according to the speed parameter of the current vehicle, the acquisition target is obtained and works as front truck Relative position parameter;Judge whether the relative position parameter reaches collision threshold, when the relative position parameter reaches It is issued warning signal when collision threshold;
Warning module, for receiving the pre-warning signal and exporting display;
The acquisition target includes preceding to vehicle, lane line and/or pedestrian;Then, the data processing module includes:
Traffic target identifies submodule, for extracting lane line according to described image data, obtains institute according to the lane line of extraction Area-of-interest is stated, and identifies forward direction vehicle and/or pedestrian in the area-of-interest;
Wherein, the data processing module includes at least one of following three submodules:
Forward direction vehicle collision prewarning submodule, the forward direction vehicle collision prewarning submodule identify submodule in the traffic target When identifying front vehicles, the first relative position parameter between current vehicle and front vehicles is obtained, judges first phase Whether the first collision threshold is reached to location parameter, is issued when parameter reaches the first collision threshold when first relative position defeated Out to the first pre-warning signal of the warning module, to export display;
Pedestrian impact early warning submodule, the pedestrian impact early warning submodule is in traffic target identification submodule identification trip When people, the second relative position parameter between current vehicle and pedestrian is obtained, judges whether second relative position parameter reaches To the second collision threshold, output is issued when parameter reaches the second collision threshold when second relative position to the warning module The second pre-warning signal, to export display;
With,
Lane departure warning submodule, the lane departure warning submodule are used to identify that submodule is known according to the traffic target Not Chu lane line, calculate the front-wheel intended contact of current vehicle to the remaining time of lane line, judge that the remaining time is No to reach secure threshold, the third early warning for issuing output to the warning module when the remaining time reaching secure threshold is believed Number, to export display;The lane departure warning submodule is also used to identify that submodule identifies according to the traffic target Lane line, calculate current vehicle front-wheel relative to the lateral distance of lane line and the laterally offset speed of current vehicle, and The laterally offset speed is compared with a preset threshold, when the laterally offset speed is less than preset threshold, then root According to the laterally offset speed and the lateral distance, the remaining time is calculated;
The traffic target identification submodule is also based on contour of the vehicle feature templates and judges to whether there is in the area-of-interest Front vehicles issue the first operation signal to the forward direction vehicle collision prewarning submodule when the preceding vehicle is recognized, according to First operation signal, the acquisition of forward direction vehicle collision prewarning submodule the distance between the current vehicle and front vehicles, And travel speed and acceleration of the current vehicle relative to front vehicles, and calculate current vehicle and colliding occur in front vehicles It is expected that collision time, as first relative position parameter.
2. driving assistance system according to claim 1, which is characterized in that the traffic target identification submodule is also based on The resemblance module of pedestrian judges in the area-of-interest with the presence or absence of pedestrian, when identifying pedestrian, Xiang Suoshu pedestrian Anti-collision warning submodule issues the second operation signal, and according to second operation signal, the pedestrian impact early warning submodule is obtained The distance between current vehicle and pedestrian and current vehicle travel speed and acceleration relative to pedestrian are taken, and is calculated current There is the estimated collision time collided in vehicle and pedestrian, as second relative position parameter.
3. driving assistance system according to claim 1, which is characterized in that the traffic target identification submodule is also used to The traffic sign for identifying described image data, obtains the situation of change and/or current state of the traffic sign;
Wherein, the data processing module further includes traffic sign intelligent reminding submodule,
The traffic that the traffic sign intelligent reminding submodule output prompts the traffic target identification submodule to identify The situation of change and/or current state of mark.
4. driving assistance system according to claim 1, which is characterized in that the warning module is included at least with lower module One of:
Voice cue module generates voice signal for receiving the pre-warning signal that the data processing module issues, to Family carries out early warning;
Flash for prompting module generates optical flare signal for receiving the pre-warning signal that the data processing module issues, to right User carries out early warning;With,
Display module, for showing described image data and the speed data, and data processing module described in Overlapping display is sent out Pre-warning signal out.
5. a kind of vehicle real-time early warning based reminding method, which is characterized in that the described method includes:
Image data in front of acquisition current vehicle in real time;
Described image data are handled, lane line is extracted;
According to the lane line of extraction, delimit centered on image viewpoint and using each lane line of the image viewpoint or so as side The image-region on boundary is area-of-interest;
Identify the acquisition target in the area-of-interest;
The speed parameter of current vehicle is obtained,
According to the speed parameter of the current vehicle, the relative position parameter of the acquisition target and current vehicle is obtained;
Judge whether the relative position parameter reaches collision threshold, if so, issuing alarm signal;
The acquisition target includes preceding to vehicle, lane line and/or pedestrian;Then, described to be joined according to the speed of the current vehicle Number, the relative position parameter for obtaining the acquisition target and current vehicle, judge whether the relative position parameter reaches collision Threshold value, if so, the process for issuing alarm signal one of at least includes the following steps:
When the acquisition target is front vehicles, the first relative position parameter between current vehicle and front vehicles is obtained, is sentenced Whether first relative position parameter of breaking reaches the first collision threshold, and when first relative position, parameter reaches the first collision The first pre-warning signal that output to warning module is issued when threshold value, to export display;
When the acquisition target is pedestrian, the second relative position parameter between current vehicle and pedestrian is obtained, judges described the Whether two relative position parameters reach the second collision threshold, hair when parameter reaches the second collision threshold when second relative position It is exported out to the second pre-warning signal of the warning module, to export display;With,
When the acquisition target is lane line, according to the lane line, the front-wheel intended contact of current vehicle is calculated to lane line Remaining time, judge whether the remaining time reaches secure threshold, the sending when the remaining time reaching secure threshold It exports to the third pre-warning signal of the warning module, to export display;According to the lane line, current vehicle front-wheel is calculated Relative to the lateral distance of lane line and the laterally offset speed of current vehicle, and the laterally offset speed is pre- with one If threshold value is compared, when the laterally offset speed is less than preset threshold, then according to the laterally offset speed and described Lateral distance calculates the remaining time;
Travel speed and acceleration according to the distance between current vehicle and front vehicles and current vehicle relative to front vehicles Degree, calculates current vehicle and the estimated collision time collided occur in front vehicles, as first relative position parameter.
6. according to the method described in claim 5, it is characterized in that,
Travel speed and acceleration according to the distance between current vehicle and pedestrian and current vehicle relative to pedestrian calculate There is the estimated collision time collided in current vehicle and pedestrian, as second relative position parameter.
CN201510980465.2A 2015-12-23 2015-12-23 Driving assistance system and vehicle real-time early warning based reminding method CN105620489B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510980465.2A CN105620489B (en) 2015-12-23 2015-12-23 Driving assistance system and vehicle real-time early warning based reminding method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510980465.2A CN105620489B (en) 2015-12-23 2015-12-23 Driving assistance system and vehicle real-time early warning based reminding method

Publications (2)

Publication Number Publication Date
CN105620489A CN105620489A (en) 2016-06-01
CN105620489B true CN105620489B (en) 2019-04-19

Family

ID=56035933

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510980465.2A CN105620489B (en) 2015-12-23 2015-12-23 Driving assistance system and vehicle real-time early warning based reminding method

Country Status (1)

Country Link
CN (1) CN105620489B (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105976620A (en) * 2016-06-24 2016-09-28 深圳市元征科技股份有限公司 Speed monitoring method and device
CN106682295A (en) * 2016-12-16 2017-05-17 清华大学 Analysis method for evaluating real-time safety characteristics of drivers
CN108064401A (en) * 2016-12-29 2018-05-22 深圳市柔宇科技有限公司 Vehicle early warning method, apparatus and system
CN106828388A (en) * 2016-12-30 2017-06-13 浙江吉利控股集团有限公司 For the vehicle active warning system and method and vehicle of pedestrian
CN106882184A (en) * 2017-01-04 2017-06-23 江西沃可视发展有限公司 Driving safety system based on the pure image procossings of ADAS
CN106828310A (en) * 2017-03-02 2017-06-13 北京汽车研究总院有限公司 A kind of early warning and reminding method and early warning device
CN106740829B (en) * 2017-03-23 2018-04-10 吉林大学 Based on the double semi-dragging truck riding stability automatic identifications of cluster analysis and early warning system
CN107256382A (en) * 2017-05-19 2017-10-17 深圳佑驾创新科技有限公司 Virtual bumper control method and system based on image recognition
CN107521411A (en) * 2017-07-18 2017-12-29 吉林大学 A kind of track level navigation augmented reality device for aiding in driver
CN107826116A (en) * 2017-10-31 2018-03-23 安徽融合智能科技有限公司 The operating method of automobile active safety drive assist system based on mobile terminal
CN109835330A (en) * 2017-11-27 2019-06-04 大陆泰密克汽车系统(上海)有限公司 The method of vehicle active collision avoidance and the vehicle for using this method
CN107886749A (en) * 2017-12-13 2018-04-06 南通理工学院 One kind driving based reminding method and device
CN108263280A (en) * 2017-12-14 2018-07-10 浙江鼎奕科技发展有限公司 A kind of objects in front collision warning systems
CN108549880A (en) * 2018-04-28 2018-09-18 深圳市商汤科技有限公司 Collision control method and device, electronic equipment and storage medium
CN109263659A (en) * 2018-07-28 2019-01-25 上海商汤智能科技有限公司 Intelligent driving control method and device, vehicle, electronic equipment, medium, product
CN108839653B (en) * 2018-08-09 2020-01-14 华东交通大学 Control method and device of automatic emergency braking system
CN109278759B (en) * 2018-09-26 2020-06-12 成都鹰明智通科技股份有限公司 Vehicle safe driving auxiliary system
WO2020083349A1 (en) * 2018-10-24 2020-04-30 长沙智能驾驶研究院有限公司 Method and device for data processing for use in intelligent driving equipment, and storage medium
CN109484411A (en) * 2018-10-25 2019-03-19 衢州学院 A kind of vehicle running state detection method based on big data
CN109866682A (en) * 2019-01-30 2019-06-11 爱驰汽车有限公司 Alarm method, device and the automobile of vehicle FCW
CN110556024A (en) * 2019-07-18 2019-12-10 华瑞新智科技(北京)有限公司 Anti-collision auxiliary driving method and system and computer readable storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102521589A (en) * 2011-11-18 2012-06-27 深圳市宝捷信科技有限公司 Method and system for detecting lane marked lines
CN102963359A (en) * 2011-08-31 2013-03-13 罗伯特·博世有限公司 Method for monitoring lanes and lane monitoring system for a vehicle
CN104786933A (en) * 2015-03-04 2015-07-22 江苏大学 Panoramic image driving auxiliary device and panoramic image driving auxiliary method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2003263131A1 (en) * 2002-08-09 2004-03-19 Automotive Distance Control Systems Gmbh Means of transport with a three-dimensional distance camera and method for the operation thereof
CN103043021A (en) * 2013-01-04 2013-04-17 浙江海康集团有限公司 Omni-directional automotive active safety system with integrated five-channel video detection function
CN204801637U (en) * 2015-07-06 2015-11-25 深圳市超辉汽车电子有限公司 System is listened to 3D vehicle vision

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102963359A (en) * 2011-08-31 2013-03-13 罗伯特·博世有限公司 Method for monitoring lanes and lane monitoring system for a vehicle
CN102521589A (en) * 2011-11-18 2012-06-27 深圳市宝捷信科技有限公司 Method and system for detecting lane marked lines
CN104786933A (en) * 2015-03-04 2015-07-22 江苏大学 Panoramic image driving auxiliary device and panoramic image driving auxiliary method

Also Published As

Publication number Publication date
CN105620489A (en) 2016-06-01

Similar Documents

Publication Publication Date Title
CN106103232B (en) Travel controlling system, on-vehicle display and drive-control system
US9723243B2 (en) User interface method for terminal for vehicle and apparatus thereof
JP6304086B2 (en) Automatic driving device
CN106564494B (en) For controlling the method and system of the vehicle with automated driving system
CN106708040B (en) Sensor module, automated driving system and the method for automated driving system
CN104584097B (en) Article detection device and drive assistance device
CN104573646B (en) Chinese herbaceous peony pedestrian detection method and system based on laser radar and binocular camera
RU2571833C2 (en) Device and method for identification of roadway markers
CN104210489B (en) Vehicle and pedestrian impact bypassing method and system under bus or train route cooperative surroundings
JP5718942B2 (en) Apparatus and method for assisting safe operation of transportation means
CN102303609B (en) System and method for prewarning lane deviation
US9965957B2 (en) Driving support apparatus and driving support method
EP2291836B1 (en) Driver assistance system for preventing a vehicle colliding with pedestrians
CN103105174B (en) A kind of vehicle-mounted outdoor scene safety navigation method based on AR augmented reality
US8655579B2 (en) Driving assistance device
CN105612567B (en) Driving auxiliary device for vehicle and vehicle steering householder method
CN102096803B (en) Safe state recognition system for people on basis of machine vision
CN103847667B (en) The driving support control apparatus of vehicle
KR20160051993A (en) Apparatus for driver assistance
JP4614005B2 (en) Moving locus generator
CN103594002B (en) A kind of vehicle security system
US9074906B2 (en) Road shape recognition device
US7046822B1 (en) Method of detecting objects within a wide range of a road vehicle
JP5407764B2 (en) Driving assistance device
EP2133851B1 (en) Safe driving assisting device

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
GR01 Patent grant