CN106347363A - Lane keeping method and lane keeping device - Google Patents

Lane keeping method and lane keeping device Download PDF

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Publication number
CN106347363A
CN106347363A CN201610891235.3A CN201610891235A CN106347363A CN 106347363 A CN106347363 A CN 106347363A CN 201610891235 A CN201610891235 A CN 201610891235A CN 106347363 A CN106347363 A CN 106347363A
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CN
China
Prior art keywords
vehicle
described
track
lane line
information
Prior art date
Application number
CN201610891235.3A
Other languages
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
Original Assignee
深圳市元征科技股份有限公司
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Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Priority to CN201610891235.3A priority Critical patent/CN106347363A/en
Publication of CN106347363A publication Critical patent/CN106347363A/en

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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
    • 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
    • B60W30/10Path keeping
    • B60W30/12Lane keeping
    • 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
    • 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
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/12Lateral speed
    • B60W2520/125Lateral 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
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/40Involving external transmission of data to or from the vehicle
    • B60W2550/406Involving external transmission of data to or from the vehicle using satellite communication

Abstract

The invention provides a lane keeping method and a lane keeping device. The method comprises the following steps of acquiring image information of a lane where a vehicle is positioned; analyzing the image information of the lane to obtain position information of a lane line of the lane; acquiring position information of the vehicle by a GPS (Global Position System), and acquiring acceleration information of the vehicle by an acceleration sensor; judging whether the vehicle deviates from the lane or not by combining the position information of the lane line of the lane, the position information of the vehicle and the acceleration information of the vehicle; if yes, promoting a user that the vehicle deviates from the lane. According to the lane keeping method and the lane keeping device provided by the invention, the vehicle is enabled to drive according to a dedicated lane, and the precision of lane keeping is improved; meanwhile, the driving safety is improved, and the user experience is improved.

Description

Track keeping method and device

Technical field

The present invention relates to technical field of transportation, more particularly, to a kind of track keeping method and device.

Background technology

With the continuous development of economy and communication, automobile has become as the indispensable vehicles of people.But with The continuous improvement of automobile utilization rate, road accident rate also presents the trend rising year by year.According to statistics, in all motor vehicles things Therefore in, the vehicle accident being caused due to deviation accounts for 20 the percent of all vehicle accidents, more seriously, due to car The traffic mortality that road deviates and causes accounts for 37 the percent of all traffic mortality rates.Can from this data Go out, Lane Departure has had a strong impact on the security of the lives and property of people.Therefore, recent domestic many research institutions Start to be devoted to the research of Lane Keeping System.

At present, Lane Keeping System is generally based on the identification to lane line for the photographic head, then calculates vehicle body and lane line Closing rate, finally determines whether cross-line.But so obtained information is inaccurate, and driver is in fatigue driving, Absent minded, easily cause automotive run-off-road, cause vehicle accident.

Content of the invention

Present invention is primarily targeted at providing a kind of track keeping method and device it is intended to ensure vehicle by regulation track Travel, and in automotive run-off-road, user is reminded, improve drive safety.

In order to achieve the above object, the present invention proposes a kind of method of auxiliary change lane, comprising:

Obtain the image information in track residing for vehicle;

The image information in described track is parsed, obtains the positional information of the lane line in track;

Obtain the positional information of described vehicle by gps, obtain the acceleration letter of described vehicle by acceleration transducer Breath;

Acceleration information in conjunction with the positional information of the lane line in described track, the positional information of vehicle and vehicle judges Described vehicle whether run-off-road;

If so, then point out user's automotive run-off-road.

Preferably, the positional information of the lane line in track, the positional information of vehicle and vehicle described in described combination plus Velocity information judges whether described vehicle produces the step of lane shift and include:

Acceleration information in conjunction with the positional information of the lane line in described track, the positional information of vehicle and vehicle calculates The side of described vehicle and side-play amount a of homonymy lane line;

Described side-play amount a is carried out with side-play amount threshold value b of homonymy lane line with the side of described vehicle set in advance Compare, wherein said side-play amount threshold value b sets based on experience value;

Described vehicle whether run-off-road is judged according to comparison result.

Preferably, also include before the step of image information in track residing for described acquisition vehicle:

Preset the side of described vehicle and side-play amount threshold value b of homonymy lane line based on experience value.

Preferably, side-play amount a of the described side by described vehicle and homonymy lane line and the one of vehicle set in advance Side-play amount threshold value b of side and homonymy lane line is compared, and judges the step bag of vehicle whether run-off-road according to comparison result Include:

If comparison result is a > b, judge automotive run-off-road;

If comparison result is a≤b, judge vehicle without departing from track.

Preferably, the described image information to described track parses, and obtains the positional information of the lane line in track Step also includes:

The image information in described track is parsed, obtains the classification information of the lane line in described track, described track It is the information such as solid line, double solid line or dotted line that the classification information of line includes lane line;

Also include in the step of described prompting user's automotive run-off-road:

If described lane line is solid line or is double solid line, user is pointed out to correct vehicle heading.

If described lane line is dotted line, prompt the user whether to need change lane.

Present invention also offers a kind of track holding meanss, comprising:

Carriageway image acquisition module, for obtaining the image information in track residing for vehicle;

Image analysis module, for parsing to the image information in described track, obtains the position of the lane line in track Information;

Information of vehicles acquisition module, for being obtained the positional information of described vehicle by gps, is obtained by acceleration transducer Take the acceleration information of described vehicle;

Judge module, for the positional information of the lane line with reference to described track, the positional information of vehicle and vehicle Acceleration information judges described vehicle whether run-off-road;

Reminding module, for when described judge module judges automotive run-off-road, pointing out user's automotive run-off-road.

Preferably, described judge module includes:

Computing unit, for the positional information of the lane line with reference to described track, the positional information of vehicle and vehicle Acceleration information calculates the side of described vehicle and side-play amount a of homonymy lane line;

Comparing unit, for by the side-play amount of the side of described side-play amount a and vehicle set in advance and homonymy lane line Threshold value b is compared, and wherein said side-play amount threshold value b sets based on experience value;

Judging unit, for judging described vehicle whether run-off-road according to comparison result.

Preferably, described track holding meanss also include presetting module, for presetting described car based on experience value Side and homonymy lane line side-play amount threshold value b.

Preferably, described judging unit is additionally operable to:

If comparison result is a > b, judge automotive run-off-road;

If comparison result is a≤b, judge vehicle without departing from track.

Preferably, described image parsing module is additionally operable to:

The image information in described track is parsed, obtains the classification information of the lane line in described track, described track It is the information such as solid line, double solid line or dotted line that the classification information of line includes lane line;

Described reminding module is additionally operable to:

If described lane line is solid line or is double solid line, user is pointed out to correct vehicle heading.

If described lane line is dotted line, prompt the user whether to need change lane.

Track keeping method and device that the embodiment of the present invention proposes, by obtaining the image information in track residing for vehicle; The image information in described track is parsed, obtains the positional information of the lane line in track;Described vehicle is obtained by gps Positional information, obtains the acceleration information of described vehicle by acceleration transducer;Position in conjunction with the lane line in described track The acceleration information of information, the positional information of vehicle and vehicle judges described vehicle whether run-off-road;If so, then prompting is used Family automotive run-off-road, thus ensure that vehicle, by regulation lanes, improves the precision of track holding, also improves and drive simultaneously Sail safety, improve Consumer's Experience.

Brief description

Fig. 1 is the schematic flow sheet of track of the present invention keeping method preferred embodiment;

Fig. 2 is the refinement schematic flow sheet of step s4 in the keeping method of track of the present invention;

Fig. 3 is the high-level schematic functional block diagram of track of the present invention holding meanss preferred embodiment;

Fig. 4 is the refinement high-level schematic functional block diagram of judge module in the holding meanss of track of the present invention.

In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right The present invention is further elaborated.

Specific embodiment

It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.

The solution of the embodiment of the present invention is mainly: obtains the image information in track residing for vehicle;To described track Image information is parsed, and obtains the positional information of the lane line in track;Obtain the positional information of described vehicle by gps, lead to Cross the acceleration information that acceleration transducer obtains described vehicle;In conjunction with the positional information of the lane line in described track, vehicle The acceleration information of positional information and vehicle judges described vehicle whether run-off-road;If so, then prompting user's vehicle deviates Track.

Specifically, as shown in figure 1, a kind of track keeping method of providing for the present invention of Fig. 1 preferably apply example, the method bag Include:

Step s1, obtains the image information in track residing for vehicle;

When being embodied as, vehicle-mounted camera can be arranged on vehicle, track residing for vehicle is shot by vehicle-mounted camera Image, obtain the image information in track residing for vehicle.

Step s2, parses to the image information in track, obtains the positional information of the lane line in track;

After obtaining the image information in track, using image analysis technology or other modes, the image information obtaining is carried out Analyzing and processing, obtains the positional information of the lane line in track residing for vehicle.

Step s3, obtains the positional information of vehicle by gps, obtains the acceleration letter of vehicle by acceleration transducer Breath;

Step s4, in conjunction with the acceleration information of the positional information of the lane line in track, the positional information of vehicle and vehicle Judge vehicle whether run-off-road;If so, then enter step s5;

Step s5, points out user's automotive run-off-road.

Specifically, the acceleration of vehicle as a kind of embodiment, can be accurately obtained by acceleration transducer Degree direction and acceleration magnitude, may determine that travel direction and the velocity magnitude of vehicle according to acceleration direction and size, according to Gps positioning can obtain the positional information of vehicle, in conjunction with the positional information of the lane line in track, the positional information of vehicle and car Acceleration information, vehicle whether run-off-road can be judged exactly.

Such as, when vehicle is in a point position, Current vehicle is navigated to by gps and is located at position a, by acceleration Sensor detects vehicle in the acceleration magnitude of current location a and direction, the acceleration magnitude according to current location a and direction Obtain travel direction f of vehicle1, and current driving direction f1With the angle c of homonymy lane line, in subsequent time, when vehicle is in b When point position, Current vehicle is navigated to by gps and is located at position b, vehicle is detected current by acceleration transducer The acceleration magnitude of position b and direction, the acceleration magnitude according to current location b and direction obtain travel direction f of vehicle2, And current driving direction f2Angle d with homonymy lane line.

If angle d and angle c is both greater than zero, and angle d is increasing with respect to angle c, then explanation vehicle and track Degrees of offset increasing;If angle d and angle c is both greater than zero, and angle d is less and less with respect to angle c, then illustrate Vehicle is less and less with the degrees of offset in track;If angle d and angle c is both greater than zero, and angle d does not have with respect to angle c Change, then explanation vehicle and track keep current offset state.

When the acceleration information of the positional information of the lane line with reference to track, the positional information of vehicle and vehicle judges car After run-off-road, user's automotive run-off-road can be pointed out by voice or Vehicular display device, so, even if in user's essence Traveling state of vehicle can be got information about, thus improving driving safety when power dispersion.

The present embodiment passes through such scheme: obtains the image information in track residing for vehicle;The image information in track is carried out Parsing, obtains the positional information of the lane line in track;Obtain the positional information of vehicle by gps, obtained by acceleration transducer The acceleration information of pick-up;Acceleration in conjunction with the positional information of the lane line in track, the positional information of vehicle and vehicle Information judges described vehicle whether run-off-road;If so, then point out user's automotive run-off-road;If it is not, then can not point out, from And ensure vehicle by regulation lanes, improve the precision whether track keeps track, improve drive safety, improve Consumer's Experience.

As shown in Fig. 2 Fig. 2 is the refinement schematic flow sheet based on step s4 in the track keeping method described in Fig. 1.This reality Apply in example, above-mentioned steps s4, in conjunction with the acceleration letter of the positional information of the lane line in track, the positional information of vehicle and vehicle Breath judges whether run-off-road may include that vehicle

Step s401, in conjunction with the acceleration of the positional information of the lane line in described track, the positional information of vehicle and vehicle Degree information calculates the side of described vehicle and side-play amount a of homonymy lane line;

Wherein, side-play amount a can be embodied by distance parameter it is also possible to be embodied by angle, or by away from walk-off angle Degree together embodies.The present embodiment is together embodied with distance and angle is illustrated.

Acceleration direction and the acceleration magnitude of vehicle can be detected by vehicle acceleration sensor.Then basis adds Velocity attitude and size may determine that travel direction and the velocity magnitude of vehicle.

When vehicle does not have offset lanes, when driving safely in track, the travel direction of vehicle is parallel with lane line, works as car During run-off-road, between the travel direction of vehicle and lane line, shape is at a certain angle.

The position of vehicle in the present embodiment, can be obtained by gps positioning, the position according to vehicle can detect vehicle The distance between with lane line, when vehicle shifts, can monitor that the distance between the position of vehicle and lane line exist Constantly change.

Thus the side of vehicle and the side-play amount of homonymy lane line can be drawn according to the size of angle and the change of distance a.

Step s402, side-play amount a is carried out with side-play amount threshold value b of homonymy lane line with the side of vehicle set in advance Compare, wherein side-play amount threshold value b sets based on experience value;

Step s403, judges described vehicle whether run-off-road according to comparison result.

In order to judge vehicle whether substantial deviation track, can preset based on experience value the side of described vehicle with Side-play amount threshold value b of side lane line.Obtain the side of vehicle and side-play amount a of homonymy lane line by above-mentioned steps s401 after, Side-play amount a is compared with side-play amount threshold value b set in advance, if comparison result is a > b, judges that vehicle deviates car Road, if comparison result is a≤b, judges vehicle without departing from track.So further improve and judge whether vehicle is inclined From the precision in track, improve the safety of vehicle traveling.

As another embodiment, illustrated with side-play amount for angle, can by acceleration transducer energy accurately Get acceleration direction and the acceleration magnitude of vehicle, may determine that the traveling side of vehicle according to acceleration direction and size To and velocity magnitude, the positional information of vehicle can be obtained according to gps positioning, in conjunction with the positional information of the lane line in track, car Positional information and vehicle acceleration information, vehicle whether run-off-road can be judged exactly.

Such as, when vehicle is in a point position, Current vehicle is navigated to by gps and is located at position a, by acceleration Sensor detects vehicle in the acceleration magnitude of current location a and direction, the acceleration magnitude according to current location a and direction Obtain travel direction f of vehicle1, and current driving direction f1With the angle c of homonymy lane line, in subsequent time, when vehicle is in b When point position, Current vehicle is navigated to by gps and is located at position b, vehicle is detected current by acceleration transducer The acceleration magnitude of position b and direction, the acceleration magnitude according to current location b and direction obtain travel direction f of vehicle2, And current driving direction f2Angle d with homonymy lane line.

If angle d and angle c is both greater than zero, and angle d is increasing with respect to angle c, then explanation vehicle and track Degrees of offset increasing;If angle d and angle c is both greater than zero, and angle d is less and less with respect to angle c, then illustrate Vehicle is less and less with the degrees of offset in track;If angle d and angle c is both greater than zero, and angle d does not have with respect to angle c Change, then explanation vehicle and track keep current offset state.

In addition, based on the track keeping method described in Fig. 1 and Fig. 2, the process being parsed in the image information to track In, moreover it is possible to classification information by the analyzing and processing of image is obtained with lane line in addition to the positional information obtaining lane line, than As lane line be solid line, the classification such as double solid line or dotted line.When judging automotive run-off-road, according to different lane lines to Family carries out the prompting of different content.If lane line forbids the graticule of change lane for solid line or double solid line etc., point out to use Vehicle heading is corrected at family;If lane line is the graticule that dotted line etc. allows vehicle to change lane, prompt the user whether to need Want change lane.So, further improve the safety of vehicle traveling, improve Consumer's Experience.

In sum, track of the present invention keeping method passes through such scheme: obtains the image information in track residing for vehicle;Right The image information in track is parsed, and obtains the positional information of the lane line in track;Obtain the positional information of vehicle by gps, Obtain the acceleration information of vehicle by acceleration transducer;Position letter in conjunction with the positional information of the lane line in track, vehicle The acceleration information of breath and vehicle judges described vehicle whether run-off-road;If so, then point out user's automotive run-off-road, from And ensure vehicle by regulation lanes, improve the precision of track holding, improve drive safety, improve user's body Test.

Based on above-mentioned track keeping method, as shown in figure 3, present invention also offers a kind of vehicle holding meanss, Fig. 3 is this That invents a kind of track holding meanss providing preferably applies example, and this device includes: carriageway image acquisition module 10, image analysis mould Block 20, information of vehicles acquisition module 30, judge module 40 and reminding module 50.

Wherein, carriageway image acquisition module 10 is used for obtaining the image information in track residing for vehicle;

When being embodied as, vehicle-mounted camera can be arranged on vehicle, track residing for vehicle is shot by vehicle-mounted camera Image, obtain the image information in track residing for vehicle.

Image analysis module 20 is used for the image information in track is parsed, and obtains the position letter of the lane line in track Breath;

After obtaining the image information in track, image analysis module 20 adopts image analysis technology or other modes to acquisition Image information be analyzed process, obtain the positional information of the lane line in track residing for vehicle.

Information of vehicles acquisition module 30 is used for obtaining the positional information of vehicle by gps, is obtained by acceleration transducer The acceleration information of vehicle;

Judge module 40 is used for the acceleration of the positional information of lane line, the positional information of vehicle and vehicle with reference to track Degree information judges vehicle whether run-off-road;

If so, then reminding module 50 points out user's automotive run-off-road.

Specifically, the acceleration of vehicle as a kind of embodiment, can be accurately obtained by acceleration transducer Degree direction and acceleration magnitude, may determine that travel direction and the velocity magnitude of vehicle according to acceleration direction and size, according to Gps positioning can obtain the positional information of vehicle, in conjunction with the positional information of the lane line in track, the positional information of vehicle and car Acceleration information, vehicle whether run-off-road can be judged exactly.

Such as, when vehicle is in a point position, Current vehicle is navigated to by gps and is located at position a, by acceleration Sensor detects vehicle in the acceleration magnitude of current location a and direction, the acceleration magnitude according to current location a and direction Obtain travel direction f of vehicle1, and current driving direction f1With the angle c of homonymy lane line, in subsequent time, when vehicle is in b When point position, Current vehicle is navigated to by gps and is located at position b, vehicle is detected current by acceleration transducer The acceleration magnitude of position b and direction, the acceleration magnitude according to current location b and direction obtain travel direction f of vehicle2, And current driving direction f2Angle d with homonymy lane line.If angle d and angle c is both greater than zero, and angle d is with respect to folder Angle c is increasing, then explanation vehicle is increasing with the degrees of offset in track;If angle d and angle c is both greater than zero, and presss from both sides Angle d is less and less with respect to angle c, then explanation vehicle is less and less with the degrees of offset in track;If angle d and angle c is More than zero, and angle d is not changed in respect to angle c, then explanation vehicle and track keep current offset state.

When the acceleration information of the positional information of the lane line with reference to track, the positional information of vehicle and vehicle judges car After run-off-road, user's automotive run-off-road can be pointed out by voice or Vehicular display device, so, even if in user's essence Traveling state of vehicle can be got information about, thus improving driving safety when power dispersion.

The present embodiment passes through such scheme: carriageway image acquisition module 10 obtains the image information in track residing for vehicle;Figure As parsing module 20 parses to the image information in track, obtain the positional information of the lane line in track;Information of vehicles obtains Module 30 obtains the positional information of vehicle by gps, obtains the acceleration information of vehicle by acceleration transducer;Judge module The acceleration information of 40 positional informationes of lane line, the positional information of vehicle and vehicle combining track judges whether vehicle is inclined From track;If so, then reminding module 50 points out user's automotive run-off-road, thus ensureing that vehicle, by regulation lanes, improves The precision that track keeps, improves drive safety, improves Consumer's Experience.

As shown in figure 4, Fig. 4 is to be shown based on the refinement functional module of judge module 40 in the track holding meanss described in Fig. 3 It is intended to.Above-mentioned judge module 40 includes computing unit 401, comparing unit 402 and judging unit 403.

Specifically, computing unit 401 is used for reference to the positional information of lane line in track, the positional information of vehicle and car Acceleration information calculate vehicle side and homonymy lane line side-play amount a;

Wherein, side-play amount a can be embodied by distance parameter it is also possible to be embodied by angle, or by away from walk-off angle Degree together embodies.The present embodiment is together embodied with distance and angle is illustrated.

The acceleration information of vehicle, direction and acceleration magnitude can be detected by vehicle acceleration sensor.Then May determine that travel direction and the velocity magnitude of vehicle according to acceleration direction and size.

When vehicle does not have offset lanes, when driving safely in track, the travel direction of vehicle is parallel with lane line, works as car During run-off-road, between the travel direction of vehicle and lane line, shape is at a certain angle.

The position of vehicle in the present embodiment, can be obtained by gps positioning, the position according to vehicle can detect vehicle The distance between with lane line, when vehicle shifts, can monitor that the distance between the position of vehicle and lane line exist Constantly change.

Thus the side of vehicle and the skew of homonymy lane line can be drawn according to the size of angle and the changing value of distance Amount a.

Comparing unit 402 is used for the side-play amount threshold of the side of side-play amount a and vehicle set in advance and homonymy lane line Value b is compared, and wherein side-play amount threshold value b sets based on experience value.

Judging unit 403 is used for judging vehicle whether run-off-road according to comparison result.

In order to judge vehicle whether substantial deviation track, presetting module can be set in this vehicle holding means, in advance Setting module is used for presetting the side of vehicle and side-play amount threshold value b of homonymy lane line based on experience value.By above-mentioned meter Calculate after unit 401 obtains the side of vehicle and side-play amount a of homonymy lane line, comparing unit 402 by side-play amount a with preset Side-play amount threshold value b compare, if comparison result is a > b, judging unit 403 then judges automotive run-off-road, if compared It is a≤b to result, judging unit 403 then judges vehicle without departing from track.So further improve whether judge vehicle The precision of run-off-road, improves the safety of vehicle traveling.

As another embodiment, illustrated with side-play amount for angle, can by acceleration transducer energy accurately Get acceleration direction and the acceleration magnitude of vehicle, may determine that the traveling side of vehicle according to acceleration direction and size To and velocity magnitude, the positional information of vehicle can be obtained according to gps positioning, in conjunction with the positional information of the lane line in track, car Positional information and vehicle acceleration information, vehicle whether run-off-road can be judged exactly.

Such as, when vehicle is in a point position, Current vehicle is navigated to by gps and is located at position a, by acceleration Sensor detects vehicle in the acceleration magnitude of current location a and direction, the acceleration magnitude according to current location a and direction Obtain travel direction f of vehicle1, and current driving direction f1With the angle c of homonymy lane line, in subsequent time, when vehicle is in b When point position, Current vehicle is navigated to by gps and is located at position b, vehicle is detected current by acceleration transducer The acceleration magnitude of position b and direction, the acceleration magnitude according to current location b and direction obtain travel direction f of vehicle2, And current driving direction f2Angle d with homonymy lane line.

If angle d and angle c is both greater than zero, and angle d is increasing with respect to angle c, then explanation vehicle and track Degrees of offset increasing;If angle d and angle c is both greater than zero, and angle d is less and less with respect to angle c, then illustrate Vehicle is less and less with the degrees of offset in track;If angle d and angle c is both greater than zero, and angle d does not have with respect to angle c Change, then explanation vehicle and track keep current offset state.

In addition, based on the track holding meanss described in Fig. 3 and Fig. 4, image analysis module 20 is in the image information to track During being parsed, moreover it is possible to by track is obtained to the analyzing and processing of image in addition to the positional information obtaining lane line The classification information of line, such as lane line are the classifications such as solid line, double solid line or dotted line.When judging unit 403 judges that vehicle deviates During track, reminding module 50 carries out the prompting of different content according to different lane lines to user.If lane line be solid line or Person's double solid line etc. forbids the graticule of change lane, and reminding module 50 then points out user to correct vehicle heading;If lane line Allow the graticule of vehicle to change lane for dotted line etc., reminding module 50 then prompts the user whether to need change lane.So, more enter One step improves the safety of vehicle traveling, improves Consumer's Experience.

In sum, track of the present invention holding meanss pass through such scheme: carriageway image acquisition module 10 obtains vehicle institute The image information in place track;Image analysis module 20 parses to the image information in track, obtains the position of the lane line in track Confidence ceases;Information of vehicles acquisition module 30 obtains the positional information of vehicle by gps, obtains vehicle by acceleration transducer Acceleration information;Judge module 40 combines the acceleration of the positional information of lane line, the positional information of vehicle and vehicle in track Degree information judges vehicle whether run-off-road;If so, then reminding module 50 points out user's automotive run-off-road, thus ensureing vehicle By regulation lanes, improve the precision of track holding, improve drive safety, improve Consumer's Experience.

The foregoing is only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization Equivalent structure or flow process conversion that description of the invention and accompanying drawing content are made, or the skills being directly or indirectly used in other correlations Art field, is included within the scope of the present invention.

Claims (10)

1. a kind of track keeping method is it is characterised in that include:
Obtain the image information in track residing for vehicle;
The image information in described track is parsed, obtains the positional information of the lane line in track;
Obtain the positional information of described vehicle by gps, obtain the acceleration information of described vehicle by acceleration transducer;
Described in conjunction with the acceleration information judgement of the positional information of the lane line in described track, the positional information of vehicle and vehicle Vehicle whether run-off-road;
If so, then point out user's automotive run-off-road.
2. track according to claim 1 keeping method is it is characterised in that the position of the lane line in track described in described combination The acceleration information of confidence breath, the positional information of vehicle and vehicle judges whether described vehicle produces the step bag of lane shift Include:
Described in conjunction with the acceleration information calculating of the positional information of the lane line in described track, the positional information of vehicle and vehicle The side of vehicle and side-play amount a of homonymy lane line;
Described side-play amount a is compared with side-play amount threshold value b of homonymy lane line with the side of described vehicle set in advance;
Described vehicle whether run-off-road is judged according to comparison result.
3. track according to claim 2 keeping method is it is characterised in that the image in track residing for described acquisition vehicle is believed Also include before the step of breath:
Preset the side of described vehicle and side-play amount threshold value b of homonymy lane line based on experience value.
4. track according to claim 3 keeping method it is characterised in that described by described side-play amount a with preset Threshold value b of the side of described vehicle and homonymy lane line compare, vehicle whether run-off-road is judged according to comparison result Step also include:
If comparison result is a > b, judge automotive run-off-road;
If comparison result is a≤b, judge vehicle without departing from track.
5. the track keeping method according to Claims 1-4 any one it is characterised in that described to described track Image information is parsed, and the step obtaining the positional information of the lane line in track also includes:
The image information in described track is parsed, obtains the classification of the lane line in described track, the classification of described lane line Including solid line, double solid line or dotted line;
Also include in the step of described prompting user's automotive run-off-road:
If described lane line is solid line or is double solid line, user is pointed out to correct vehicle heading.
If described lane line is dotted line, prompt the user whether to need change lane.
6. a kind of track holding meanss are it is characterised in that include:
Carriageway image acquisition module, for obtaining the image information in track residing for vehicle;
Image analysis module, for parsing to the image information in described track, obtains the positional information of the lane line in track;
Information of vehicles acquisition module, for obtaining the positional information of described vehicle by gps, obtains institute by acceleration transducer State the acceleration information of vehicle;
Judge module, for the acceleration of the positional information of the lane line with reference to described track, the positional information of vehicle and vehicle Degree information judges described vehicle whether run-off-road;
Reminding module, for when described judge module judges automotive run-off-road, pointing out user's automotive run-off-road.
7. track according to claim 6 holding meanss are it is characterised in that described judge module includes:
Computing unit, for the acceleration of the positional information of the lane line with reference to described track, the positional information of vehicle and vehicle Degree information calculates the side of described vehicle and side-play amount a of homonymy lane line;
Comparing unit, for by the side-play amount of the side of described side-play amount a and described vehicle set in advance and homonymy lane line Threshold value b is compared, and wherein said side-play amount threshold value b sets based on experience value;
Judging unit, for judging described vehicle whether run-off-road according to comparison result.
8. track according to claim 7 holding meanss are it is characterised in that also include:
Presetting module, for presetting the side of described vehicle and side-play amount threshold value b of homonymy lane line based on experience value.
9. track according to claim 7 holding meanss are it is characterised in that described judging unit is additionally operable to:
If comparison result is a > b, judge automotive run-off-road;
If comparison result is a≤b, judge vehicle without departing from track.
10. the track holding meanss according to claim 6 to 9 any one are it is characterised in that described image parsing module It is additionally operable to:
The image information in described track is parsed, obtains the classification of the lane line in described track, the classification of described lane line Including solid line, double solid line or dotted line;
Described reminding module is additionally operable to:
If described lane line is solid line or is double solid line, user is pointed out to correct vehicle heading.
If described lane line is dotted line, prompt the user whether to need change lane.
CN201610891235.3A 2016-10-12 2016-10-12 Lane keeping method and lane keeping device CN106347363A (en)

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