CN105882515A - Information processing method and device applied to automobile data recorder and automobile data recorder - Google Patents
Information processing method and device applied to automobile data recorder and automobile data recorder Download PDFInfo
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- CN105882515A CN105882515A CN201510772073.7A CN201510772073A CN105882515A CN 105882515 A CN105882515 A CN 105882515A CN 201510772073 A CN201510772073 A CN 201510772073A CN 105882515 A CN105882515 A CN 105882515A
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- vehicle
- distance
- lane line
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- drive recorder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
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- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
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Abstract
The embodiment of the invention provides an information processing method and device applied to an automobile data recorder and the automobile data recorder. The automobile data recorder at least comprises an image acquiring module. The method comprises the following steps: acquiring a vehicle running image acquired by the image acquiring module; recognizing a lane line in the vehicle running image; outputting prompting information according to the lane line when a vehicle meets a lane line deviating pre-warning condition, so as to prompt a user that the vehicle deviates from the lane line. With the adoption of the automobile data recorder, the driving safety can be improved, and the functions of the automobile data recorder are increased.
Description
Technical field
The present embodiments relate to automobile technical field, particularly relate to a kind of being applied in drive recorder
Information processing method, device and drive recorder.
Background technology
Drive recorder refers to that registration of vehicle travels the instrument and equipment of the information such as the image in way and sound.
After drive recorder installed by vehicle, it is possible to registration of vehicle travels image and the sound etc. of overall process, can
Evidence is provided, it is also possible to as the image etc. in independent cameras shooting driving procedure for vehicle accident.
Drive recorder universal, becomes requisite accessory in vehicle, and current driving recording
Instrument, to image and the collection of sound, is only to rest on record aspect, checks image and sound
Needing the storage medium reading in drive recorder to realize, function is more single, increasingly cannot meet
The demand of user, the function of drive recorder is in urgent need to be improved.
Summary of the invention
The embodiment of the present invention provides a kind of and is applied to the information processing method of drive recorder, device and driving
Monitor, for solving the technical problem that prior art middle rolling car monitor function is more single, enriches
The function of drive recorder.
The embodiment of the present invention provides a kind of information processing method being applied to drive recorder, and described driving is remembered
Record instrument at least includes that image capture module, described method include:
Obtain the vehicle traveling image that described image capture module gathers；
Identify that described vehicle travels the lane line in image；
According to described lane line, when described vehicle meets lane departure warning condition, export information,
To point out user's vehicle generation deviation.
The embodiment of the present invention provides a kind of information processor being applied to drive recorder, and described driving is remembered
Record instrument at least includes that image capture module, described device include:
First acquiring unit, the vehicle gathered for obtaining described image capture module travels image；
Recognition unit, for identifying that described vehicle travels the lane line in image；
Prewarning unit, for according to described lane line, when described vehicle meets lane departure warning condition,
Output information, to point out user vehicle generation deviation.
The embodiment of the present invention provides a kind of drive recorder, at least includes image capture module and above-mentioned institute
The information processor stated.
What the embodiment of the present invention provided is applied to the information processing method of drive recorder, device and driving note
Record instrument, can travel image to the vehicle of the image capture module collection in drive recorder and be identified,
Identify lane line；According to this lane line, it is judged that when vehicle meets lane departure warning condition, permissible
Output information, is used for warning user's vehicle generation deviation maybe will sail other tracks into so that
User receives this information, it is possible to correct driver behavior in time, from improve drive safety.This
Inventive embodiments effectively utilizes drive recorder to achieve lane departure warning, enriches drive recorder
Function, to a certain degree ensure that drive safety by drive recorder.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under,
Accompanying drawing during face describes is some embodiments of the present invention, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the flow chart that the present invention is applied to one embodiment of information processing method of drive recorder；
Fig. 2 is the flow process that the present invention is applied to another embodiment of information processing method of drive recorder
Figure；
Fig. 3 is the structural representation that the present invention is applied to one embodiment of information processor of drive recorder
Figure；
Fig. 4 is the structural representation of drive recorder embodiment of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention,
Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on
Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
As described in the background art, due to popularizing of drive recorder, being increasingly becoming in vehicle must
Few accessory, but the function singleness of drive recorder, the most effectively utilize drive recorder, increases row
The function of car monitor, brings more preferable driving experience to user, becomes the main development of drive recorder
Prospect.
And inventor finds under study for action, along with popularizing of vehicle, road vehicle gets more and more, as
What ensures vehicle driving safety, reduces vehicle accident and becomes very important problem.And at vehicle
In driving process, when particularly running at high speed, when cannot discover if the deviation from current driving lane and user,
This may result in entering other tracks, and collide with the vehicle on other tracks and cause vehicle accident
Occur.If when vehicle deviation current driving lane, it is possible to driver is warned so that it is can
Correct current driving performance in time, it is possible to be largely avoided the generation of vehicle accident.
Therefore, inventor is through a series of research, it is proposed that technical scheme, in the present invention
In embodiment, the vehicle that the image capture module in drive recorder can be gathered by drive recorder travels
Image is identified, and identifies lane line；According to this lane line, it is judged that it is pre-that vehicle meets deviation
During alert condition, information can be exported, be used for warning user's vehicle generation deviation maybe will sail into
Other tracks so that user receives this information, it is possible to correct driver behavior in time, from improve
Drive safety.The embodiment of the present invention effectively utilizes drive recorder to achieve lane departure warning, abundant
The function of drive recorder, to a certain degree ensure that drive safety by drive recorder.
Below in conjunction with the accompanying drawings technical solution of the present invention is described in detail.
The flow chart of one embodiment of a kind of information processing method that Fig. 1 provides for the embodiment of the present invention, should
Method is applied particularly in drive recorder.
Drive recorder at least includes image capture module, and this image capture module is for running at vehicle
Journey carries out image collection etc..
Drive recorder is typically mounted on vehicle front windshield, rear car mirror peripheral location, it is ensured that
The openr visual field acquisition range of drive recorder.
Method described in the present embodiment can include following step:
101: obtain the vehicle traveling image that image capture module gathers.
It is i.e. that drive recorder utilizes image capture module collection in vehicle travel process that vehicle travels image
Its visual field acquisition range in image.
When drive recorder installs correct position in the car, this vehicle travels in image and i.e. can include
Vehicle current driving lane, and the vehicle surroundings such as lane line, the most also include vehicle sections scene,
Such as headstock.
102: identify that described vehicle travels the lane line in image.
Drive recorder installation site accurately in the case of, drive recorder gather vehicle travel image
In i.e. can include traveling lane.
Travel image according to the vehicle gathered, this vehicle is travelled image and is identified, it is possible to obtain vehicle
The lane line of the traveling lane in traveling image.
Lane line refers to drafting on road, for distinguishing the line in different track.Permissible by lane line
Road is marked off some tracks.In vehicle operation, it is ensured that travel on a track, permissible
Improve drive safety, it is to avoid arbitrarily changing Lane, and with asking that the vehicle on other tracks collides
Topic.
103: according to described lane line, when described vehicle meets lane departure warning condition, output prompting
Information, to point out user vehicle generation deviation.
According to lane line, whether vehicle can be met lane departure warning condition and judge.
Lane departure warning condition is used for judging whether vehicle deviates current driving lane.
If vehicle deflection lane line travels, distance lane line is increasingly nearer, and now vehicle i.e. can occur
Deviation.
When vehicle meets lane departure warning condition, information i.e. can be exported, so that user to be entered
Row warning so that user can correct current driving performance.
This information can be sound or warning lamp flicker etc..Therefore in this drive recorder also
Dio Output Modules can be included, such as speaker；Or light emitting module, such as LED etc..
In embodiments of the present invention, the vehicle by gathering drive recorder image capture module travels
Image is identified, it is thus achieved that Lane Mark, according to this Lane Mark, meets track at vehicle inclined
When early-warning conditions, i.e. can export information, to point out user so that user can entangle in time
Positive current driving performance, it is to avoid the vehicle collision that deviation causes, improves drive safety,
The embodiment of the present invention achieves lane departure warning by drive recorder and is effectively utilized driving recording
Instrument, enriches the function of drive recorder, improves drive safety by drive recorder.
As a kind of possible implementation, described according to described Lane Mark, meet at described vehicle
During lane departure warning condition, output information may include that
Distance according to described lane line, the reference position in the headstock of described vehicle and described lane line
It is changed to second distance from the first distance, and when described second distance is less than predeterminable range, output prompting letter
Breath.
Namely this lane departure warning condition include reference position in headstock and described lane line away from
It is changed to second distance from from the first distance, and described second distance is less than predeterminable range.
Owing to can identify vehicle headstock from traveling image, this headstock reference position may refer to car
Any position set in advance in Tou, such as headstock boundary position.
Thus i.e. can be according to the distance of headstock reference position distance lane line, it may be judged whether carry out track
Deviation early warning.
If in headstock reference position distance lane line distance from the first distance be changed to second away from
From, and this second distance is less than predeterminable range, the most i.e. shows vehicle in the process of moving, traveling side
To there occurs deflection, if deflection causes the distance of the reference position distance lane line in headstock less than pre-
If distance, illustrating that vehicle deflection lane line travels, and distance lane line is increasingly nearer, now vehicle can
Can be the deflection occurred under the unconscious driving situation of user, may cause occurring deviation, now
I.e. need output information to point out user, correct driver behavior in time.
Owing to track is obtained by two lane lines divisions, described in the embodiment of the present invention, lane line can
To refer to the arbitrary lane line in track, as long as the distance apart from arbitrary lane line is less than predeterminable range,
I.e. show deviation.
Wherein, the first distance, more than predeterminable range, may refer to vehicle distance track within a certain period of time
Line keeps constant distance.
Due in vehicle travel process, it may occur that turn around, lane change or the operation such as turn to, now
The distance of vehicle distances lane line is likely to be changed to second distance from the first distance, and second distance is little
In predeterminable range.
For current driver behavior, user can judge whether vehicle is that deviation occurs voluntarily,
Thus decide whether to correct current driving performance.
Certainly, in order to improve the accuracy of lane departure warning, can turn around at vehicle, lane change
Or the distance of the vehicle distances lane line caused when the fair play such as turning to is changed to from the first distance
Two distances, and second distance is less than the situation of predeterminable range, does not carry out early warning.
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, generally distance change is very fast.
Therefore as another embodiment, described according to described Lane Mark, meet track at described vehicle inclined
When early-warning conditions, output information may include that
According to described Lane Mark, the reference position in the headstock of described vehicle and described lane line
Distance is changed to second distance from the first distance after scheduled duration, and described second distance is less than pre-
If during distance, export information.
Namely vehicle early warning condition include the distance of reference position in the headstock of vehicle and described lane line from
First distance is changed to second distance after scheduled duration, and described second distance is less than predeterminable range.
The distance of the reference position in the headstock of vehicle and described lane line in scheduled duration from first
When distance is changed to second distance, may indicate that vehicle generation lane change or the legal driver behavior such as turn around,
Lane departure warning can be carried out without exporting information.
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, can slow down, and deflection angle
Degree is relatively big, therefore as another embodiment, can also include that kinematic parameter is examined in this drive recorder
Survey module.
While obtaining the vehicle traveling image that image capture module gathers, it is also possible to obtain described motion
The Vehicle Speed of parameter detection module collection and migration velocity.
This kinematic parameter detection module can include GPS, and (the Global Positioning System whole world is fixed
Position system), velocity sensor, gyroscope, angular-rate sensor and/or acceleration transducer etc..
Migration velocity specifically may refer to angular velocity.
Described according to described Lane Mark, when described vehicle meets lane departure warning condition, output
Information may include that
According to described lane line, described travel speed and described migration velocity, in the traveling of described vehicle
Speed is more than or equal to the first preset value, and described migration velocity is more than or equal to the second preset value and less than or equal to the
Reference position in three preset values, and the headstock of described vehicle apart from described lane line less than from first away from
From being changed to second distance, and when described second distance is less than predeterminable range, export information.
Namely this lane departure warning condition includes, and the reference position distance in the headstock of described vehicle
Described lane line is changed to second distance less than from the first distance, and described second distance is less than predeterminable range.
If vehicle performs to turn around or during the driver behavior such as lane change, speed can decline.If therefore vehicle
Travel speed more than or equal to the first preset value, show that vehicle does not slow down, migration velocity is less than or equal to the
Three preset values, show that vehicle does not occur bigger deflection rapidly, such as turn around or turn to, the most partially
Move speed if greater than equal to the second preset value, show vehicle do not slow down and do not turn around or do not turn to or
In the case of non-lane change, the deflection that travel direction occurs, now i.e. it is believed that vehicle deviates current driving
, there is deviation, the most i.e. can export information, so that user to be warned in track so that
User is to correct driver behavior at that time in time.
Further, since there is the contingent vehicle accident of deviation, multiple vehicle is being run at high speed
During, therefore this first preset value can be configured, such as according to the speed that the accident that is easily caused occurs
60km/h (kilometer per hour).
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, deflection angle is relatively big, because of
This is as another embodiment, can also include kinematic parameter detection module in this drive recorder.
While the vehicle that described acquisition image capture module gathers travels image, described method also includes:
Obtain the vehicle heading that described motion parameter collecting module gathers.
This kinematic parameter detection module can include GPS, and (the Global Positioning System whole world is fixed
Position system) or direction sensor etc., can be with the travel direction of collection vehicle.
Described according to described lane line, when described vehicle meets lane departure warning condition, output prompting
Information can be specifically:
According to described lane line and vehicle heading, big at the deflection angle of described vehicle heading
In the first predetermined angle and less than the reference position in the second predetermined angle, and the headstock of described vehicle away from
The second distance being changed to from the first distance from the distance of described lane line, and described second distance is less than pre-
If during distance, export information.
Namely lane departure warning condition includes that the deflection angle of vehicle heading is more than the first predetermined angle
And less than the reference position in the second predetermined angle, and the headstock of described vehicle apart from described lane line
Distance is changed to second distance from the first distance, and described second distance is less than predeterminable range.
According to the vehicle heading gathered, the deflection that vehicle obtains can be obtained due to travel direction change
Angle, if deflection angle is more than the second predetermined angle, illustrates that vehicle yaw angle is relatively big, now vehicle
Fair plays such as turning around or turn to may be performed again, and if deflection angle is less than this second predetermined angle,
And more than the first predetermined angle, then show vehicle may deviation current driving vehicle, if now vehicle
The second distance that reference position in headstock is changed to from the first distance apart from the distance of described lane line, and
Described second distance is less than predeterminable range, i.e. can export information, so that user is carried out vehicle deviation
Warning.
As another embodiment, in order to improve the accuracy of lane departure warning further, can be in conjunction with
Travel direction, travel speed, deviation angle, distance etc. consider, if carry out lane departure warning,
As in figure 2 it is shown, for the embodiment of the present invention the information processing method being applied in drive recorder another
The flow chart of embodiment, this drive recorder can include image capture module, kinematic parameter detection module
Deng, it is also possible to include dio Output Modules, such as speaker or light emitting module, such as LED etc..
The method can include following step:
201: obtain the vehicle traveling image that described image capture module gathers.
202: identify that described vehicle travels the lane line in image.
203: obtain Vehicle Speed, migration velocity and car that described motion parameter collecting module gathers
Travel direction.
Wherein it is desired to say, the operation execution sequence of step 201～step 203 does not limit and this reality
The operation executing the execution sequence of example, step 201 and step 203 can perform simultaneously, or first carries out
The operation of step 203, then perform the operation of step 201.
204: according to described lane line, it is judged that the reference position in the headstock of described vehicle and described lane line
Distance whether be changed to second distance from the first distance, and described second distance is less than predeterminable range, as
Fruit is, performs step 205, continues executing with if it does not, return step 201.
205: according to described vehicle heading, it is judged that whether described vehicle yaw angle is preset more than first
Angle and less than the second predetermined angle, if it is, perform step 206, if it does not, return step 203
Continue executing with.
206: according to described Vehicle Speed, it is judged that whether the travel speed of described vehicle is more than or equal to the
One preset value, if it is, perform step 207, continues executing with if it does not, return step 203.
207: according to described vehicle shift angle, it is judged that whether the migration velocity of described vehicle is more than or equal to the
Two preset values and less than or equal to the 3rd preset value, if it is, perform step 208, if it does not, return step
Rapid 203 continue executing with.
208: output information.
It should be noted that the present invention is not limited to step 204～the execution of step 207 in the present embodiment
Sequentially, as long as the judged result of step 204～step 207 is when being, information i.e. can be exported.
Can be specifically to trigger described dio Output Modules output early warning audio-frequency information or trigger described luminescence
Module is luminous, to realize the effect of warning user.
In the present embodiment, by the image capture module being arranged in drive recorder and kinematic parameter
Detection module, the vehicle of image capture module collection travels image and acts not only as drive recorder note
The image of record, it is also possible to this vehicle is travelled image and is identified, identify the lane line of traveling lane,
And then according to lane line and the Vehicle Speed of operational parameter detection module collection, vehicle traveling side
To and migration velocity, vehicle heading change, cause deflection angle to be more than the first predetermined angle
And less than the second predetermined angle, and Vehicle Speed is more than waiting the first preset value, migration velocity is more than
During equal to the second preset value less than or equal to the second preset value, if the distance of vehicle headstock distance lane line
Less than predeterminable range, then showing that vehicle deviates current driving lane, i.e. export information, warning is used
There is deviation in family so that user can correct current driving performance in time, it is to avoid deviation
The vehicle collision caused, improves drive safety, and the present embodiment is effectively utilized drive recorder,
Achieve lane departure warning, add the function of drive recorder, improve by drive recorder
Drive safety.
The vehicle row that the drive recorder that the embodiment of the present invention provides can also gather according to image capture module
Sail image, identify the distance of vehicle distances front truck, such that it is able to vehicle and leading vehicle distance less than safety away from
From time, warning information can be exported, to warn user to keep the safe distance with front truck, it is to avoid with front truck
Collide.
One enforcement of a kind of information processor being applied in drive recorder that Fig. 3 provides for the present invention
The structural representation of example, described drive recorder at least includes image capture module.Image capture module is used
In carrying out image collection etc. in vehicle travel process.
Drive recorder is typically mounted on vehicle front windshield, rear car mirror peripheral location, it is ensured that
The openr visual field acquisition range of drive recorder.
This device may include that
First acquiring unit 301, the vehicle gathered for obtaining described image capture module travels image.
It is i.e. that drive recorder utilizes image capture module collection in vehicle travel process that vehicle travels image
Its visual field acquisition range in image.
When drive recorder installs correct position in the car, this vehicle travels in image and i.e. can include
Vehicle current driving lane, and the vehicle surroundings such as lane line, the most also include vehicle sections scene,
Such as headstock.
Recognition unit 302, for identifying that described vehicle travels the lane line in image.
Travel image according to the vehicle gathered, this vehicle is travelled image and is identified, it is possible to obtain vehicle
The lane line of the traveling lane in traveling image.
Lane line refers to drafting on road, for distinguishing the line in different track.Permissible by lane line
Road is marked off some tracks.In vehicle operation, it is ensured that travel on a track, permissible
Improve drive safety, it is to avoid arbitrarily changing Lane, and with asking that the vehicle on other tracks collides
Topic.
Prewarning unit 303, for according to described lane line, meets lane departure warning bar at described vehicle
During part, export information, to point out user vehicle generation deviation.
Lane departure warning condition is used for judging whether vehicle deviates current driving lane.
If vehicle deflection lane line travels, distance lane line is increasingly nearer, and now vehicle i.e. can occur
Deviation.
When vehicle meets lane departure warning condition, information i.e. can be exported, so that user to be entered
Row warning so that user can correct current driving performance.
This information can be sound or warning lamp flicker etc..Therefore in this drive recorder also
Dio Output Modules can be included, such as speaker；Or light emitting module, such as LED etc..
Therefore prewarning unit output information can be specifically to trigger the output early warning of described dio Output Modules
Audio-frequency information or to trigger described light emitting module luminous.
In embodiments of the present invention, the vehicle by gathering drive recorder image capture module travels
Image is identified, it is thus achieved that Lane Mark, according to this Lane Mark, meets track at vehicle inclined
When early-warning conditions, i.e. can export information, to point out user so that user can entangle in time
Positive current driving performance, it is to avoid the vehicle collision that deviation causes, improves drive safety,
The embodiment of the present invention achieves lane departure warning by drive recorder and is effectively utilized driving recording
Instrument, adds the function of drive recorder, improves drive safety by drive recorder.
As a kind of possible implementation, described prewarning unit can be specifically for:
According to described lane line, the reference position in the headstock of described vehicle and described lane line away from
It is changed to second distance from from the first distance, and when described second distance is less than predeterminable range, output carries
Show information.
Owing to can identify vehicle headstock from traveling image, this headstock reference position may refer to car
Any position set in advance in Tou, such as headstock boundary position.
Thus i.e. can be according to the distance of headstock reference position distance lane line, it may be judged whether carry out track
Deviation early warning.
If in headstock reference position distance lane line distance from the first distance be changed to second away from
From, and this second distance is less than predeterminable range, the most i.e. shows vehicle in the process of moving, traveling side
To there occurs deflection, if deflection causes the distance of the reference position distance lane line in headstock less than pre-
If distance, illustrating that vehicle deflection lane line travels, and distance lane line is increasingly nearer, now vehicle can
Can be the deflection occurred under the unconscious driving situation of user, may cause occurring deviation, now
I.e. need output information to point out user, correct driver behavior in time.
Owing to track is obtained by two lane lines divisions, described in the embodiment of the present invention, lane line can
To refer to the arbitrary lane line in track, as long as the distance apart from arbitrary lane line is less than predeterminable range,
I.e. show deviation.
Wherein, the first distance, more than predeterminable range, may refer to vehicle distance track within a certain period of time
Line keeps constant distance.
Due in vehicle travel process, it may occur that turn around, lane change or the operation such as turn to, now
The distance of vehicle distances lane line is likely to be changed to second distance from the first distance, and second distance is little
In predeterminable range.
For current driver behavior, user can judge whether vehicle is that deviation occurs voluntarily,
Thus decide whether to correct current driving performance.
Certainly, in order to improve the accuracy of lane departure warning, can turn around at vehicle, lane change
Or the distance of the vehicle distances lane line caused when the fair play such as turning to is changed to from the first distance
Two distances, and second distance is less than the situation of predeterminable range, does not carry out early warning.
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, generally distance change is very fast.
Therefore as another embodiment, this prewarning unit can be specifically for:
According to described Lane Mark, the reference position in the headstock of described vehicle and described lane line
Distance is changed to second distance from the first distance after scheduled duration, and described second distance is less than pre-
If during distance, export information.
Namely vehicle early warning condition include the distance of reference position in the headstock of vehicle and described lane line from
First distance is changed to second distance after scheduled duration, and described second distance is less than predeterminable range.
The distance of the reference position in the headstock of vehicle and described lane line in scheduled duration from first
When distance is changed to second distance, may indicate that vehicle generation lane change or the legal driver behavior such as turn around,
Lane departure warning can be carried out without exporting information.
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, can slow down, and deflection angle
Degree is relatively big, therefore as another embodiment, can also include that kinematic parameter is examined in this drive recorder
Survey module.Information processor described in the embodiment of the present invention can also include:
Second acquisition unit, for obtain described motion parameter collecting module gather Vehicle Speed with
And migration velocity.
The most described prewarning unit can be specifically for: according to described lane line, described travel speed and institute
Stating migration velocity, the travel speed at described vehicle is more than or equal to the first preset value, and described migration velocity is big
In equal to the second preset value and less than or equal to the reference bit in the 3rd preset value, and the headstock of described vehicle
Put and be changed to second distance apart from described lane line less than from the first distance, and described second distance is less than pre-
If during distance, export information.
Namely this lane departure warning condition includes that the travel speed of vehicle is more than or equal to the first preset value, partially
Move speed more than or equal to the second preset value and less than or equal in the 3rd preset value, and the headstock of described vehicle
Reference position be changed to second distance apart from described lane line less than from the first distance, and described second away from
From less than predeterminable range.
If vehicle performs to turn around or during the driver behavior such as lane change, speed can decline.If therefore vehicle
Travel speed more than or equal to the first preset value, show that vehicle does not slow down, migration velocity is less than or equal to the
Three preset values, show that vehicle does not occur bigger deflection rapidly, such as turn around or turn to, the most partially
Move speed if greater than equal to the second preset value, show vehicle do not slow down and do not turn around or do not turn to or
In the case of non-lane change, the deflection that travel direction occurs, now i.e. it is believed that vehicle deviates current driving
, there is deviation, the most i.e. can export information, so that user to be warned in track so that
User is to correct driver behavior at that time in time.
Further, since there is the contingent vehicle accident of deviation, multiple vehicle is being run at high speed
During, therefore this first preset value can be configured, such as according to the speed that the accident that is easily caused occurs
60km/h (kilometer per hour).
Due to vehicle performing to turn around, lane change the or when fair play such as turning to, deflection angle is relatively big, because of
This is as another embodiment, can also include kinematic parameter detection module in this drive recorder.
The information processor of the embodiment of the present invention can also include:
3rd acquiring unit, for obtaining the vehicle heading that described motion parameter collecting module gathers；
Described prewarning unit can be specifically for: according to described lane line and vehicle heading, in institute
State vehicle yaw angle and more than the first predetermined angle and be less than the second predetermined angle, and the car of described vehicle
Reference position in Tou is changed to second distance apart from the distance of described lane line from the first distance, and described
When second distance is less than predeterminable range, export information.
Namely lane departure warning condition includes that the deflection angle of vehicle heading is more than the first predetermined angle
And less than the reference position in the second predetermined angle, and the headstock of described vehicle apart from described lane line
Distance is changed to second distance from the first distance, and described second distance is less than predeterminable range.
According to the vehicle heading gathered, the deflection that vehicle obtains can be obtained due to travel direction change
Angle, if deflection angle is more than the second predetermined angle, illustrates that vehicle yaw angle is relatively big, now vehicle
Fair plays such as turning around or turn to may be performed again, and if deflection angle is less than this second predetermined angle,
And more than the first predetermined angle, then show vehicle may deviation current driving vehicle, if now vehicle
The second distance that reference position in headstock is changed to from the first distance apart from the distance of described lane line, and
Described second distance is less than predeterminable range, i.e. can export information, so that user is carried out vehicle deviation
Warning.
Certainly, in order to improve the accuracy of lane departure warning further, can in conjunction with travel direction, OK
Sail speed, deviation angle, distance etc. to consider, if carry out lane departure warning.Such as this track
Deviation early-warning conditions can be that the deflection angle of vehicle heading is more than the first predetermined angle and less than second
Predetermined angle, vehicle travel speed more than or equal to the first preset value, migration velocity more than or equal to second pre-
If being worth and less than or equal to the reference position in the 3rd preset value, and the headstock of described vehicle apart from described car
The distance of diatom is changed to second distance and described second distance less than predeterminable range from the first distance.
The embodiment of the present invention additionally provides a kind of drive recorder, and as shown in Figure 4, this drive recorder can
To include image capture module 401 and information processor 402, the tool of this information processor 402
Body structure can be participated in described in any of the above-described embodiment.
Image capture module 401 travels image for collection vehicle；
The vehicle that information processor 402 gathers for obtaining described image capture module travels image also,
Identify that described vehicle travels the lane line in image；According to described lane line, meet track at described vehicle
During deviation early-warning conditions, export information, to point out user's vehicle lane to deviate.
Certainly, as another embodiment, this drive recorder can also include kinematic parameter detection module,
For the travel speed of collection vehicle, migration velocity, travel direction etc..
Therefore information processor is according to described lane line, meets lane departure warning condition at described vehicle
Time, output information can with specific reference to described lane line, Vehicle Speed, migration velocity and
Travel direction, when described vehicle meets lane departure warning condition, exports information.
Lane departure warning condition can be participated in the above, does not repeats them here.
This drive recorder can also include dio Output Modules or light emitting module.
Thus information processor output information can specifically trigger the output of described dio Output Modules
Early warning audio-frequency information or to trigger described light emitting module luminous.
This kinematic parameter detection module can include GPS, and (the Global Positioning System whole world is fixed
Position system), velocity sensor, gyroscope, angular-rate sensor and/or acceleration transducer etc..
This dio Output Modules can be speaker, and light emitting module can be LED etc..
In processor that information processor is desirably integrated in drive recorder or microcontroller.
The drive recorder that the embodiment of the present invention provides is possible not only in vehicle travel process carry out image record
System, it is also possible to carry out lane departure warning, improves drive safety, enriches the function of drive recorder.
Device embodiment described above is only schematically, wherein said illustrates as separating component
Unit can be or may not be physically separate, the parts shown as unit can be or
Person may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network
On unit.Some or all of module therein can be selected according to the actual needs to realize the present embodiment
The purpose of scheme.Those of ordinary skill in the art are not in the case of paying performing creative labour, the most permissible
Understand and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive each reality
The mode of executing can add the mode of required general hardware platform by software and realize, naturally it is also possible to by firmly
Part.Based on such understanding, the portion that prior art is contributed by technique scheme the most in other words
Dividing and can embody with the form of software product, this computer software product can be stored in computer can
Read in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that one
Computer equipment (can be personal computer, server, or the network equipment etc.) performs each to be implemented
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, rather than to it
Limit；Although the present invention being described in detail with reference to previous embodiment, the ordinary skill of this area
Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or
Person carries out equivalent to wherein portion of techniques feature；And these amendments or replacement, do not make corresponding skill
The essence of art scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the information processing method being applied to drive recorder, it is characterised in that described driving recording
Instrument at least includes that image capture module, described method include:
Obtain the vehicle traveling image that described image capture module gathers；
Identify that described vehicle travels the lane line in image；
According to described lane line, when described vehicle meets lane departure warning condition, export information,
To point out user's vehicle generation deviation.
Method the most according to claim 1, it is characterised in that described according to described lane line,
When described vehicle meets lane departure warning condition, output information includes:
Distance according to described lane line, the reference position in the headstock of described vehicle and described lane line
It is changed to second distance from the first distance, and when described second distance is less than predeterminable range, output prompting letter
Breath.
Method the most according to claim 1, it is characterised in that described drive recorder also includes fortune
Dynamic parameter detection module；
While the vehicle that described acquisition image capture module gathers travels image, described method also includes:
Obtain Vehicle Speed and migration velocity that described motion parameter collecting module gathers；
Described according to described lane line, when described vehicle meets lane departure warning condition, output prompting
Information includes:
According to described lane line, described travel speed and described migration velocity, in the traveling of described vehicle
Speed is more than or equal to the first preset value, and described migration velocity is more than or equal to the second preset value and less than or equal to the
Reference position in three preset values, and the headstock of described vehicle apart from described lane line less than from first away from
From being changed to second distance, and when described second distance is less than predeterminable range, export information.
Method the most according to claim 1, it is characterised in that described drive recorder also includes fortune
Dynamic parameter detection module；
While the vehicle that described acquisition image capture module gathers travels image, described method also includes:
Obtain the vehicle heading that described motion parameter collecting module gathers；
Described according to described lane line, when described vehicle meets lane departure warning condition, output prompting
Information includes:
According to described lane line and vehicle heading, preset more than first in described vehicle yaw angle
Angle and less than the reference position in the second predetermined angle, and the headstock of described vehicle apart from described track
The distance of line is changed to second distance from the first distance, and when described second distance is less than predeterminable range, defeated
Go out information.
5. according to the method described in any one of Claims 1 to 4, it is characterised in that described drive recorder
Also include dio Output Modules or light emitting module；
Described output information includes:
Trigger described dio Output Modules output early warning audio-frequency information or trigger the luminescence of described light emitting module.
6. the information processor being applied to drive recorder, it is characterised in that described driving recording
Instrument at least includes that image capture module, described device include:
First acquiring unit, the vehicle gathered for obtaining described image capture module travels image；
Recognition unit, for identifying that described vehicle travels the lane line in image；
Prewarning unit, for according to described lane line, when described vehicle meets lane departure warning condition,
Output information, to point out user vehicle generation deviation.
Device the most according to claim 6, it is characterised in that described prewarning unit specifically for:
Distance according to described lane line, the reference position in the headstock of described vehicle and described lane line
It is changed to second distance from the first distance, and when described second distance is less than predeterminable range, output prompting letter
Breath.
Device the most according to claim 6, it is characterised in that described drive recorder also includes fortune
Dynamic parameter detection module；Described device also includes:
Second acquisition unit, for obtain described motion parameter collecting module gather Vehicle Speed with
And migration velocity；
Described prewarning unit specifically for: according to described lane line, described travel speed and described skew
Speed, the travel speed at described vehicle is more than or equal to the first preset value, and described migration velocity is more than or equal to
Second preset value and less than or equal to the reference position distance in the 3rd preset value, and the headstock of described vehicle
Described lane line is changed to second distance less than from the first distance, and described second distance is less than predeterminable range
Time, export information.
Device the most according to claim 6, it is characterised in that described drive recorder also includes fortune
Dynamic parameter detection module；Described device also includes:
3rd acquiring unit, for obtaining the vehicle heading that described motion parameter collecting module gathers；
Described prewarning unit specifically for: according to described lane line and vehicle heading, at described car
Deflection angle is more than the first predetermined angle and less than in the second predetermined angle, and the headstock of described vehicle
Reference position be changed to second distance, and described second apart from the distance of described lane line from the first distance
When distance is less than predeterminable range, export information.
10. a drive recorder, it is characterised in that at least include image capture module and such as right
Require the information processor described in 5～9 any one.
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| CN201510772073.7A CN105882515A (en) | 2015-11-11 | 2015-11-11 | Information processing method and device applied to automobile data recorder and automobile data recorder |
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| CN201510772073.7A CN105882515A (en) | 2015-11-11 | 2015-11-11 | Information processing method and device applied to automobile data recorder and automobile data recorder |
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| CN113759903A (en) * | 2021-08-23 | 2021-12-07 | 东莞职业技术学院 | Unmanned vehicle, steering control method thereof, electronic device, and storage medium |
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