CN106467057A - The method of lane departure warning, apparatus and system - Google Patents
The method of lane departure warning, apparatus and system Download PDFInfo
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- CN106467057A CN106467057A CN201510519943.XA CN201510519943A CN106467057A CN 106467057 A CN106467057 A CN 106467057A CN 201510519943 A CN201510519943 A CN 201510519943A CN 106467057 A CN106467057 A CN 106467057A
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Abstract
The invention discloses a kind of method of lane departure warning, apparatus and system, the method for described lane departure warning comprises the following steps：Obtain the turn signal state of the facial image of driver of backsight collecting unit collection, the deviation image of forward sight collecting unit collection and the collection of steering indicating light signal gathering unit of vehicle；When the steering indicating light described automotive run-off-road and described vehicle is detected is not opened, the direction according to described facial image and described automotive run-off-road carries out lane change early warning.The present invention can improve the accuracy rate of vehicle lane change early warning, reduces security incident odds.
Description
Technical field
The present invention relates to vehicle drive security technology area, more particularly, to a kind of method of lane departure warning,
Apparatus and system.
Background technology
Lane Departure Warning System be a kind of by report to the police by way of assist driver reduce automobile because track inclined
From and there is the system of vehicle accident.Current Lane Departure Warning System is by picture processing chip, control
Device, sensor etc. form.When deviation system is opened, it is arranged on the side of vehicle or taking the photograph of front portion
As head can gather the image of traveling lane the moment, the image collecting is carried out with image procossing acquisition vehicle and exists
Location parameter in current lane, when automotive run-off-road is detected, the row of sensor sensing to vehicle
The data such as vehicle speed and turn signal state, when speed is larger and steering indicating light is not opened, is sent by controller
Alarm signal, whole process about completed at 0.5 second, provided more response time for driver.And
If steering indicating light is opened, it is normally carried out modified line and travels, then Lane Departure Warning System will not do any prompting.
But vehicle is in the process of moving, when surrounding vehicles are less, vehicle lane change is very safe, driver
May will not open steering indicating light, and Lane Departure Warning System is reported to the police, and false alarm；Or have
A little driver habits travel near sideline or short time line ball travels, and at this moment steering indicating light will not be opened, and car
Road deviates early warning system and is still reported to the police, and false alarm；Or when steering indicating light is breech-loading, pass
Sensor cannot obtain the on off state of steering indicating light, and false alarm also easily in Lane Departure Warning System；Report
Alert accuracy rate is not high.
Content of the invention
Present invention is primarily targeted at providing a kind of method of lane departure warning, apparatus and system, purport
When solving existing Lane Departure Warning System in vehicle lane change, the not high technology of the accuracy rate of early warning is asked
Topic.
For achieving the above object, the present invention provides a kind of method of lane departure warning, described deviation
The method of early warning comprises the following steps：
Obtain the facial image of driver of backsight collecting unit collection, the collection of forward sight collecting unit of vehicle
Deviation image and steering indicating light signal gathering unit collection turn signal state；
When the steering indicating light described automotive run-off-road and described vehicle is detected is not opened, according to described people
The direction of face image and described automotive run-off-road carries out lane change early warning.
The method of lane departure warning according to the present invention, apparatus and system, dispose backsight to adopt in vehicle
Collect unit to gather the facial image of driver, when steering automotive run-off-road and described vehicle is detected
When lamp is not opened, switch according to steering indicating light is judging whether driver has being intended to and being forbidden of subjective lane change
Really, now by the facial image of driver is analyzed obtain with driver subjective deviate be intended to and body
Body state etc., and combine the direction integrated decision-making of automotive run-off-road, carry out lane change early warning, it is possible to increase
The accuracy rate of vehicle lane change early warning, reduces security incident odds.
Brief description
Fig. 1 is the schematic flow sheet of the method first embodiment of lane departure warning of the present invention；
Fig. 2 is pre- for carrying out lane change according to the direction of described facial image and described automotive run-off-road in Fig. 1
The refinement schematic flow sheet of alert step；
Fig. 3 is to obtain the subjective of described driver according to described facial image in Fig. 2 to deviate intention and body
The refinement schematic flow sheet of the step of state；
Fig. 4 is the schematic flow sheet of the method second embodiment of lane departure warning of the present invention；
Fig. 5 is the high-level schematic functional block diagram of the device first embodiment of lane departure warning of the present invention；
Fig. 6 is the refinement high-level schematic functional block diagram of warning module in Fig. 5；
Fig. 7 is the refinement high-level schematic functional block diagram of acquiring unit in Fig. 6；
Fig. 8 is the high-level schematic functional block diagram of the device second embodiment of lane departure warning of the present invention；
Fig. 9 is the high-level schematic functional block diagram of system one embodiment of lane departure warning of the present invention.
The realization of the object of the invention, functional characteristics and advantage will be done further in conjunction with the embodiments referring to the drawings
Explanation.
Specific embodiment
It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit
Determine the present invention.
The present invention provides a kind of method of lane departure warning, with reference to Fig. 1, in one embodiment, this car
The method that road deviates early warning includes：
Step S101, obtains the facial image of driver of backsight collecting unit collection of vehicle, forward sight is adopted
The deviation image of collection unit collection and the turn signal state of steering indicating light signal gathering unit collection；
In the present embodiment, backsight collecting unit is arranged in vehicle, and direction backwards, can be just to driver
Or tiltedly to driver, so as to collecting the facial image of driver, track in the present embodiment
When deviateing early warning system unlatching, backsight collecting unit starts to gather the facial image of driver.Facial image
Such as subjective deviation intention when can reflect that driver drives and condition etc..
Wherein, backsight collecting unit can be that industrial camera, camera lens or image pick-up card etc. carry shooting
The device of head.
In the present embodiment, can gather in the side of vehicle or anterior installation forward sight collecting unit, this forward sight
Unit tiltedly points to track.Forward sight collecting unit Real-time Collection deviation image, by this deviation
Image is analyzed, and can know road ahead or the change of environment.
Wherein, forward sight collecting unit can also be industrial camera, camera lens or image pick-up card etc. carry take the photograph
Device as head.
In the present embodiment, steering indicating light signal gathering unit can be OBD (On Board
Diagnostics, OBD).
Step S102, when the steering indicating light described automotive run-off-road and described vehicle is detected is not opened,
Direction according to described facial image and described automotive run-off-road carries out lane change early warning.
In the present embodiment, after obtaining deviation image, can directly carry out on deviation image
Process it is also possible to be processed on rational top view being generated by IPM, thus extracting lane line ginseng
Number.First deviation image is carried out with pretreatment, Threshold segmentation and edge strengthen, then utilize Hough
The method of Hough transform or other extraction straight lines, to extract left and right lane line parameter, needs finally according to actual
Choose suitable lane departure warning model, such as TLC or additive method, to judge the deviation of vehicle
State.Wherein, the deviation state of the vehicle of the present embodiment or the direction of run-off-road are included normally, to the left
Deviation, left pressure measurement line, be deviated to the right, right side line ball totally 5 kinds of states.
In the present embodiment, if vehicle lane occurs to deviate and when steering indicating light opens it is believed that driver
Need vehicle lane change subjective, and think that driver is in clear-headed state, as long as driver concentrates note
Meaning power typically will not be caused danger situation, does not now need to be reported to the police.
If vehicle lane occur to deviate and steering indicating light when not opening it is impossible to judge that driver is subjective whether
Need vehicle to carry out lane change, and cannot determine whether driver is in waking state, at this time, it may be necessary to according to
The facial image of the driver of backsight collecting unit collection is judged, for example, pass through to drive on facial image
The eye motion of member and mouth action may determine that whether it is in fatigue state, the attitude according to its head
Judge that it whether subjective needs vehicle to carry out lane change.
It is understood that speed when vehicle is in traveling, when vehicle lane occurs to deviate and turns
To lamp do not open when, need quickly to carry out to judge whether driver is to need vehicle to enter in the state of clear-headed
Row lane change, therefore, forward sight collecting unit and backsight collecting unit can simultaneously enter working condition, respectively
Obtain the facial image of corresponding deviation image and driver in real time.
In the present embodiment, the control process that lane change early warning can be refined, when vehicle to the left or to the right
During deviation, an open instruction lamp is reminded, and unlatching warning light prompting will not cause very big to driver
Interference；When line ball to the left or to the right travels, the color of change instruction lamp flashing is reminded, meanwhile,
In the case that steering indicating light is not opened, by the analysis to facial image, if driver is subjective lane change
Intention, for example to the right line ball travel when driver to the right yaw or to the right line ball travel first 2 seconds in drive
The person of sailing to the right yaw it is believed that driver just concentrating one's energy drive it is not necessary to carry out sound early warning again, if
The subjective intention not having lane change of driver, for example to the right line ball travel when or to the right line ball travel front 2
When driver is less than yaw to the right in second, further its condition is judged by facial image, non-tired
Also without carrying out sound early warning under labor state, but if it is in fatigue driving state, then need with
When send alarm sound, there is stronger reminding effect to driver, it can in addition contain combine take other
Stronger alerting pattern, such as direction of vibration disk etc..When the present embodiment considers if there is false alarm,
Very big to the interference of driver using strong alerting pattern, therefore, after comprehensive various possible factors,
Only in above-mentioned vehicle, line ball travels and steering indicating light is not opened, driver does not have lane change to the left or to the right
Just carry out audible alarm when being intended to and being under fatigue driving state, reduce to greatest extent to driver's
Interference, simultaneously above-mentioned alarm mode reduces rate of false alarm.
Compared with prior art, the present embodiment disposes backsight collecting unit to gather driver's in vehicle
Facial image, when steering indicating light automotive run-off-road and described vehicle is detected is not opened, according to steering
The switch of lamp judging whether driver has the intention of subjective lane change to be inaccurate, now by driver
Facial image be analyzed obtaining driver subjective deviate be intended to and condition etc., and combine vehicle
The direction integrated decision-making of run-off-road, carries out lane change early warning, it is possible to increase the accuracy rate of vehicle lane change early warning,
Reduce security incident odds.
In a preferred embodiment, as shown in Fig. 2 on the basis of the embodiment of above-mentioned Fig. 1, on
State step S102 to include：
Step S1021, when steering indicating light automotive run-off-road and described vehicle is detected is not opened, root
Obtain the subjective of described driver according to described facial image and deviate intention and condition；
Step S1022, judge described subjective deviate be intended to and the direction of described automotive run-off-road whether
Cause, if so, then enter step S1025, otherwise enter step S1023；
Step S1023, judges whether the condition of described driver is fatigue, if so, then enters step
Rapid S1024, otherwise enters step S1025；
Step S1024, at least carries out audible alarm；
Step S1025, does not carry out audible alarm.
The subjective deviation of driver in the present embodiment, by being analyzed, can be got to facial image
Be intended to and condition, subjective deviate be intended to include doubling to the left, doubling to the right, normal totally three kinds, lead to
Cross the analysis to facial image and get subjective deviation intention, for example, can pass through being flapped toward of driver head
(i.e. head pose) knows that subjective deviation is intended to, or knows subjective deviation by the direction of eye gaze
Be intended to, or with reference to driver head be flapped toward and eye gaze direction know subjective deviate be intended to etc.,
Preferably, know that subjective deviation is intended to by being flapped toward of driver head.Condition includes regaining consciousness (i.e.
Non- fatigue) and fatigue totally two kinds it is also possible to be divided into clear-headed, medium tired, seriously tired according to actual needs
Lao Gongsan kind, by getting condition to the analysis of facial image, for example, by the closure of eye
Degree duration knows condition, or knows condition by the elevation angle of head, or
By the change of mouth, or partly to know body shape with reference at least two of eye, head and mouth
State etc. is it is preferable that know condition by the closure degree duration of eye.
When subjective deviation is intended to consistent with the direction of automotive run-off-road, refer to：Subjective deviation is intended to
For during doubling to the left, then vehicle is deviated to the left or left pressure measurement line；When subjective deviation is intended to doubling to the right,
Then vehicle is deviated to the right or right pressure measurement line.The subjective intention that deviates is inconsistent with the direction of automotive run-off-road
Scene is the scene in addition to above-mentioned consistent scene.When the subjective direction deviateed and be intended to automotive run-off-road
When inconsistent, judge whether the condition of driver is tired.
The present embodiment when steering indicating light automotive run-off-road and vehicle is detected is not opened, by face figure
Subjectivity as obtaining driver deviates intention and condition, deviates intention and automotive run-off-road subjective
Direction consistent when, illustrate driver just concentrating one's energy drive it is not necessary to carry out sound early warning, to prevent
Interfere with driver；When subjective deviation is intended to inconsistent with the direction of automotive run-off-road, need to judge
The condition of driver, if driver is in non-fatigue state it is also possible to explanation driver just concentrates
Energy drive it is not necessary to carry out sound early warning, to prevent from interfering with driver, if driver be in tired
Labor state, then at least need to carry out sound early warning, and can be in conjunction with the mode of such as display lamp and steering wheel vibration
Carry out early warning, so that driver is played with strong suggesting effect, so can improve the accuracy rate of warning.
In the present embodiment, such as when surrounding vehicles are less or no carry out lane change in the case of car, if driven
The person of sailing is not turned on steering indicating light, in the case of showing the intention wanting lane change, will not carry out on body posture
Report to the police, but in the case that the intention wanting lane change is not shown on body posture, due to driving is detected
Member is in the state of regaining consciousness, and also will not be reported to the police, and can carry out audible alarm in driver fatigue；
Or driver habit travels near sideline or short time line ball travels but steering indicating light is not opened, in body appearance
Do not show, in state, the intention wanting lane change, but due to detect driver be in clear-headed in the state of,
Will not be reported to the police, and audible alarm can be carried out in driver fatigue；Or when steering indicating light is Rear mounted
, now the on off state further according to steering indicating light does not determine whether to report to the police, but according to automotive run-off-road
Direction, driver subjective deviate be intended to and condition integrated decision-making, carry out lane change early warning, improve
The accuracy rate of early warning, and it is reduced as far as the interference to driver.
In a preferred embodiment, as shown in figure 3, on the basis of the embodiment of above-mentioned Fig. 2, on
State step S1021 to include：
Step S10211, extracts human eye feature point and face feature point according to described facial image；
Step S10212, obtains described condition according to described human eye feature point, special according to described face
Levy the described subjective deviation of an acquisition to be intended to.
In the present embodiment, after collecting facial image, extract human eye feature point and face feature point, its
In, human eye feature point preferably includes the characteristic point at canthus and the peak of upper lower eyelid and minimum point,
Face feature point is more, for example, can include characteristic point of head several organs therein etc., here is not done
Excessive restriction.
The present embodiment preferably obtains condition according to human eye feature point, extracts people first from facial image
Multiple characteristic points of eye, the method identification eye state of Land use models classification is opened or is closed, and
The degree of closure.It is then passed through statistical analysiss, typically can judge by PERCLOS method to drive
Whether member is tired.Furthermore it is also possible to further combined with frequency of wink, mouth change, state of head etc.
Index comes whether comprehensive assessment driver is tired, and the degree of fatigue.
The present embodiment extracts human eye feature point and face feature point according to facial image, by human eye feature point
Obtain condition and subjective deviation intention is obtained by face feature point, and combine automotive run-off-road
Direction integrated decision-making is carrying out the mode of lane change early warning, it is possible to increase the accuracy of vehicle lane change early warning.
The present embodiment preferably obtains subjective deviation according to face feature point and is intended to, including：According to facial characteristics
Point obtains the deflection average of the driver elevation angle average of head and head in Preset Time；When the elevation angle is equal
When value is more than predetermined angle threshold value, judge whether deflection average is more than default amount of yaw, and judge
Whether it is less than default effective time more than the persistent period of default amount of yaw；If the result judging is equal
It is yes, then subjective deviation is obtained according to deflection average and be intended to.
In the present embodiment, the elevation angle average of head and the deflection average of head can be used to judge driver
It is to eye to the front, still see to the left or to the right.I.e. when the elevation angle average of head is more than predetermined angle threshold value,
It is considered that facing front, then judge whether deflection average is more than default amount of yaw again, that is, sentence
Whether disconnected driver sees to the left or to the right, finally determines that driver is intended to doubling to the left and is also intended to doubling to the right.
The principle that the present embodiment obtains subjective deviation intention according to face feature point is as follows：Transport in vehicle first
Under dynamic state, the head elevation angle average of (such as 1 minute) driver and deflection in statistics a period of time
Average, then, arranges rational predetermined angle threshold value and amount of yaw；First according to predetermined angle threshold value
And head elevation angle average judges whether driver bows, when that is, head elevation angle average is more than predetermined angle threshold value
Judge that it is not bowed, for facing the state in front it is believed that driver is in waking state, further according to side
Judge whether yaw to the left or to the right to angle average, after obtaining head pose, that is, if to the left or
To the right during yaw, then immediate record time stamp T 0, recover normal condition in head, then record current time
Stamp T, effective time TX is preferably set to 2s, represents the effective time of head pose, if
T-T0<TX, driver to left swing head, then represents that driver is subjective to be thought to the left in effective time TX
Doubling；Yaw to the right in effective time TX, then represent that driver is subjective to think doubling to the right.
In a preferred embodiment, as shown in figure 4, on the basis of the embodiment of above-mentioned Fig. 1,
Also include before above-mentioned steps S101：
Step S100, when the speed of described vehicle is more than pre-set velocity threshold value, before obtaining described vehicle
Depending on the deviation image of collecting unit collection, according to described deviation image detection, whether vehicle
Run-off-road.
In the present embodiment, during the traveling of vehicle, vehicle can be obtained with Negotiation speed sensor current
Speed, judge that whether this speed be more than pre-set velocity threshold value, if being not more than this pre-set velocity threshold value,
It is considered that the current travel speed of vehicle is less, typically do not result in security incident, can not carry out pre-
Alert.When speed be more than pre-set velocity threshold value when, in order to maximum speed limit prevent security incident, need
Open the present embodiment in Lane Departure Warning System, with by Lane Departure Warning System to due to vehicle
Lane change and cause it may happen that the situation of danger carries out early warning, to remind driver.Certainly, work as speed
When being not more than pre-set velocity threshold value, Lane Departure Warning System can be closed.
The forward sight collecting unit of side or front portion by being arranged on vehicle for the present embodiment gathers track slip chart
Picture, by the analysis of the deviation image to collection it can be determined that vehicle whether run-off-road.
The present invention also provides a kind of device of lane departure warning, as shown in figure 5, in one embodiment,
The device of this lane departure warning includes：
Acquisition module 101, the facial image of the driver that the backsight collecting unit for obtaining vehicle gathers,
The deviation image of forward sight collecting unit collection and the steering indicating light shape of steering indicating light signal gathering unit collection
State；
In the present embodiment, backsight collecting unit is arranged in vehicle, and direction backwards, can be just to driver
Or tiltedly to driver, so as to collecting the facial image of driver, track in the present embodiment
When deviateing early warning system unlatching, backsight collecting unit starts to gather the facial image of driver.Facial image
Such as subjective deviation intention when can reflect that driver drives and condition etc..
Wherein, backsight collecting unit can be that industrial camera, camera lens or image pick-up card etc. carry shooting
The device of head.
In the present embodiment, can gather in the side of vehicle or anterior installation forward sight collecting unit, this forward sight
Unit tiltedly points to track.Forward sight collecting unit Real-time Collection deviation image, by this deviation
Image is analyzed, and can know road ahead or the change of environment.
Wherein, forward sight collecting unit can also be industrial camera, camera lens or image pick-up card etc. carry take the photograph
Device as head.
In the present embodiment, steering indicating light signal gathering unit can be OBD (On Board
Diagnostics, OBD).
Warning module 102, when the steering indicating light described automotive run-off-road and described vehicle is detected is not opened
When, the direction according to described facial image and described automotive run-off-road carries out lane change early warning.
In the present embodiment, after obtaining deviation image, can directly carry out on deviation image
Process it is also possible to be processed on rational top view being generated by IPM, thus extracting lane line ginseng
Number.First deviation image is carried out with pretreatment, Threshold segmentation and edge strengthen, then utilize Hough
The method of Hough transform or other extraction straight lines, to extract left and right lane line parameter, needs finally according to actual
Choose suitable lane departure warning model, such as TLC or additive method, to judge the deviation of vehicle
State.Wherein, the deviation state of the vehicle of the present embodiment or the direction of run-off-road are included normally, to the left
Deviation, left pressure measurement line, be deviated to the right, right side line ball totally 5 kinds of states.
In the present embodiment, if vehicle lane occurs to deviate and when steering indicating light opens it is believed that driver
Need vehicle lane change subjective, and think that driver is in clear-headed state, as long as driver concentrates note
Meaning power typically will not be caused danger situation, does not now need to be reported to the police.
If vehicle lane occur to deviate and steering indicating light when not opening it is impossible to judge that driver is subjective whether
Need vehicle to carry out lane change, and cannot determine whether driver is in waking state, at this time, it may be necessary to according to
The facial image of the driver of backsight collecting unit collection is judged, for example, pass through to drive on facial image
The eye motion of member and mouth action may determine that whether it is in fatigue state, the attitude according to its head
Judge that it whether subjective needs vehicle to carry out lane change.
It is understood that speed when vehicle is in traveling, when vehicle lane occurs to deviate and turns
To lamp do not open when, need quickly to carry out to judge whether driver is to need vehicle to enter in the state of clear-headed
Row lane change, therefore, forward sight collecting unit and backsight collecting unit can simultaneously enter working condition, respectively
Obtain the facial image of corresponding deviation image and driver in real time.
In the present embodiment, the control process that lane change early warning can be refined, when vehicle to the left or to the right
During deviation, an open instruction lamp is reminded, and unlatching warning light prompting will not cause very big to driver
Interference；When line ball to the left or to the right travels, the color of change instruction lamp flashing is reminded, meanwhile,
In the case that steering indicating light is not opened, by the analysis to facial image, if driver is subjective lane change
Intention, for example to the right line ball travel when driver to the right yaw or to the right line ball travel first 2 seconds in drive
The person of sailing to the right yaw it is believed that driver just concentrating one's energy drive it is not necessary to carry out sound early warning again, if
The subjective intention not having lane change of driver, for example to the right line ball travel when or to the right line ball travel front 2
When driver is less than yaw to the right in second, further its condition is judged by facial image, non-tired
Also without carrying out sound early warning under labor state, but if it is in fatigue driving state, then need with
When send alarm sound, there is stronger reminding effect to driver, it can in addition contain combine take other
Stronger alerting pattern, such as direction of vibration disk etc..When the present embodiment considers if there is false alarm,
Very big to the interference of driver using strong alerting pattern, therefore, after comprehensive various possible factors,
Only in above-mentioned vehicle, line ball travels and steering indicating light is not opened, driver does not have lane change to the left or to the right
Just carry out audible alarm when being intended to and being under fatigue driving state, reduce to greatest extent to driver's
Interference, reduces rate of false alarm simultaneously.
Compared with prior art, the present embodiment disposes backsight collecting unit to gather driver's in vehicle
Facial image, when steering indicating light automotive run-off-road and described vehicle is detected is not opened, according to steering
The switch of lamp judging whether driver has the intention of subjective lane change to be inaccurate, now by driver
Facial image be analyzed obtaining driver subjective deviate then and combine be intended to and condition etc.,
The direction integrated decision-making of automotive run-off-road, carries out lane change early warning, it is possible to increase the standard of vehicle lane change early warning
Really rate, reduces security incident odds.
In a preferred embodiment, as shown in fig. 6, on the basis of the embodiment of above-mentioned Fig. 5, sentencing
Disconnected module 102 includes：
Acquiring unit 1021, for when detecting automotive run-off-road and the steering indicating light of described vehicle is not opened
When, the subjective of described driver is obtained according to described facial image and deviates intention and condition；
First judging unit 1022, for judging described subjective deviation intention and described automotive run-off-road
Whether direction is consistent；
Second judging unit 1023, if for the described subjective side deviateing intention and described automotive run-off-road
To inconsistent, judge whether the condition of described driver is fatigue；
First alarm unit 1024, if the condition for described driver is fatigue, is at least carried out
Audible alarm；
Second alarm unit 1025 is if the condition for described driver is non-fatigue or described
When subjective deviation is intended to consistent with the direction of described automotive run-off-road, then do not carry out audible alarm.
The subjective deviation of driver in the present embodiment, by being analyzed, can be got to facial image
Be intended to and condition, subjective deviate be intended to include doubling to the left, doubling to the right, normal totally three kinds, lead to
Cross the analysis to facial image and get subjective deviation intention, for example, can pass through being flapped toward of driver head
(i.e. head pose) knows that subjective deviation is intended to, or knows subjective deviation by the direction of eye gaze
Be intended to, or with reference to driver head be flapped toward and eye gaze direction know subjective deviate be intended to etc.,
Preferably, know that subjective deviation is intended to by being flapped toward of driver head.Condition includes clear-headed and tired
Labor totally two kinds it is also possible to be divided into according to actual needs clear-headed, medium fatigue, totally three kinds of major fatigue, lead to
Cross the analysis to facial image and get condition, for example, lasting by the closure degree of eye
Time knows condition, or knows condition by the elevation angle of head, or by the change of mouth
Change, or partly to know condition etc. with reference at least two of eye, head and mouth it is preferable that
Condition is known by the closure degree duration of eye.
When subjective deviation is intended to consistent with the direction of automotive run-off-road, refer to：Subjective deviation is intended to
For during doubling to the left, then vehicle is deviated to the left or left pressure measurement line；When subjective deviation is intended to doubling to the right,
Then vehicle is deviated to the right or right pressure measurement line.The subjective intention that deviates is inconsistent with the direction of automotive run-off-road
Scene is the scene in addition to above-mentioned consistent scene.When the subjective direction deviateed and be intended to automotive run-off-road
When inconsistent, judge whether the condition of driver is tired.
The present embodiment when steering indicating light automotive run-off-road and vehicle is detected is not opened, by face figure
Subjectivity as obtaining driver deviates intention and condition, deviates intention and automotive run-off-road subjective
Direction consistent when, illustrate driver just concentrating one's energy drive it is not necessary to carry out sound early warning, to prevent
Interfere with driver；When subjective deviation is intended to inconsistent with the direction of automotive run-off-road, need to judge
The condition of driver, if driver is in non-fatigue state it is also possible to explanation driver just concentrates
Energy drive it is not necessary to carry out sound early warning, to prevent from interfering with driver, if driver be in tired
Labor state, then at least need to carry out sound early warning, and can be in conjunction with the mode of such as display lamp and steering wheel vibration
Carry out early warning, so that driver is played with strong suggesting effect, so can improve the accuracy rate of warning.
In the present embodiment, such as when surrounding vehicles are less or no carry out lane change in the case of car, if driven
The person of sailing is not turned on steering indicating light, in the case of showing the intention wanting lane change, will not carry out on body posture
Report to the police, but in the case that the intention wanting lane change is not shown on body posture, due to driving is detected
Member is in the state of regaining consciousness, and also will not be reported to the police, and can carry out audible alarm in driver fatigue；
Or driver habit travels near sideline or short time line ball travels but steering indicating light is not opened, in body appearance
Do not show, in state, the intention wanting lane change, but due to detect driver be in clear-headed in the state of,
Will not be reported to the police, and audible alarm can be carried out in driver fatigue；Or when steering indicating light is Rear mounted
, now the on off state further according to steering indicating light does not determine whether to report to the police, but according to automotive run-off-road
Direction, driver subjective deviate be intended to and condition integrated decision-making, carry out lane change early warning, improve
The accuracy rate of early warning, and it is reduced as far as the interference to driver.
In a preferred embodiment, as shown in fig. 7, on the basis of the embodiment of above-mentioned Fig. 6, obtaining
Unit 1021 is taken to include：
Extract subelement 10211, for human eye feature point and facial characteristics are extracted according to described facial image
Point；
Obtain subelement 10212, for described condition is obtained according to described human eye feature point, according to
Described face feature point obtains described subjective deviation and is intended to.
In the present embodiment, after collecting facial image, extract human eye feature point and face feature point, its
In, human eye feature point preferably includes the characteristic point at canthus and the peak of upper lower eyelid and minimum point,
Face feature point is more, for example, can include characteristic point of head several organs therein etc., here is not done
Excessive restriction.
The present embodiment preferably obtains condition according to human eye feature point, extracts people first from facial image
Multiple characteristic points of eye, the method identification eye state of Land use models classification is opened or is closed, and
The degree of closure.It is then passed through statistical analysiss, typically can judge by PERCLOS method to drive
Whether member is tired.Furthermore it is also possible to further combined with frequency of wink, mouth change, state of head etc.
Index comes whether comprehensive assessment driver is tired, and the degree of fatigue.
The present embodiment extracts human eye feature point and face feature point according to facial image, by human eye feature point
Obtain condition and subjective deviation intention is obtained by face feature point, and combine automotive run-off-road
Direction integrated decision-making is carrying out the mode of lane change early warning, it is possible to increase the accuracy of vehicle lane change early warning.
Wherein, obtain subelement specifically for described driver is obtained default according to described face feature point
The deflection average of the elevation angle average of head and head in time；When described elevation angle average is more than predetermined angle
During threshold value, judge whether described deflection average is more than default amount of yaw, and judge more than default
Whether the persistent period of amount of yaw is less than default effective time；If the result judging is being, root
Obtain described subjective deviation according to described deflection average to be intended to.
In the present embodiment, the elevation angle average of head and the deflection average of head can be used to judge driver
It is to eye to the front, still see to the left or to the right.I.e. when the elevation angle average of head is more than predetermined angle threshold value,
It is considered that facing front, then judge whether deflection average is more than default amount of yaw again, that is, sentence
Whether disconnected driver sees to the left or to the right, finally determines that driver is intended to doubling to the left and is also intended to doubling to the right.
The principle that the present embodiment obtains subjective deviation intention according to face feature point is as follows：Transport in vehicle first
Under dynamic state, the head elevation angle average of (such as 1 minute) driver and deflection in statistics a period of time
Average, then, arranges rational predetermined angle threshold value and amount of yaw；First according to predetermined angle threshold value
And head elevation angle average judges whether driver bows, when that is, head elevation angle average is more than predetermined angle threshold value
Judge that it is not bowed, for facing the state in front it is believed that driver is in waking state, further according to side
Judge whether yaw to the left or to the right to angle average, after obtaining head pose, that is, if to the left or
To the right during yaw, then immediate record time stamp T 0, recover normal condition in head, then record current time
Stamp T, effective time TX is preferably set to 2s, represents the effective time of head pose, if
T-T0<TX, driver to left swing head, then represents that driver is subjective to be thought to the left in effective time TX
Doubling；Yaw to the right in effective time TX, then represent that driver is subjective to think doubling to the right.
In a preferred embodiment, as shown in figure 8, on the basis of the embodiment of above-mentioned Fig. 5, institute
The device stating lane departure warning also includes：
Detection module 100, for when the speed of described vehicle is more than pre-set velocity threshold value, obtaining described
The deviation image of the forward sight collecting unit collection of vehicle, according to described deviation image detection
Vehicle whether run-off-road.
In the present embodiment, during the traveling of vehicle, vehicle can be obtained with Negotiation speed sensor current
Speed, judge that whether this speed be more than pre-set velocity threshold value, if being not more than this pre-set velocity threshold value,
It is considered that the current travel speed of vehicle is less, typically do not result in security incident, can not carry out pre-
Alert.When speed be more than pre-set velocity threshold value when, in order to maximum speed limit prevent security incident, need
Open the present embodiment in Lane Departure Warning System, with by Lane Departure Warning System to due to vehicle
Lane change and cause it may happen that the situation of danger carries out early warning, to remind driver.Certainly, work as speed
When being not more than pre-set velocity threshold value, Lane Departure Warning System can be closed.
The forward sight collecting unit of side or front portion by being arranged on vehicle for the present embodiment gathers track slip chart
Picture, by the analysis of the deviation image to collection it can be determined that vehicle whether run-off-road.
The present invention also provides a kind of system of lane departure warning, as shown in figure 9, in one embodiment,
The system of this lane departure warning includes forward sight collecting unit, backsight collecting unit, steering indicating light signals collecting
Unit and Logical processing unit, wherein：
Forward sight collecting unit, for gathering track slip chart picture；
Backsight collecting unit, for gathering the facial image of driver；
Steering indicating light signal gathering unit, for gathering turn signal state；
Logical processing unit, for obtaining described deviation image, facial image and turn signal state,
When the steering indicating light described automotive run-off-road and described vehicle is detected is not opened, according to described face figure
The direction of picture and described automotive run-off-road carries out lane change early warning.
Wherein, the device of aforesaid lane departure warning is loaded on Logical processing unit.Forward sight gathers
Unit is arranged on side or the front portion of vehicle, and Real-time Collection deviation image, then by deviation
, to Logical processing unit, Logical processing unit Built-in Image process chip, obtaining, track is inclined for image transmitting
After image, can directly be processed on deviation image it is also possible to close being generated by IPM
Processed, thus extracting lane line parameter on the top view of reason.First deviation image is carried out pre-
Process, Threshold segmentation and edge strengthen, then utilize Hough Hough transform or the side of other extraction straight lines
Method, to extract left and right lane line parameter, chooses suitable lane departure warning model finally according to being actually needed,
Such as TLC or additive method, to judge the deviation state of vehicle, the deviation state of vehicle or run-off-road
Direction include normally, be deviated to the left, left pressure measurement line, be deviated to the right, right side line ball totally 5 kinds of states；
Backsight collecting unit is installed in vehicle, for gathering the facial image of driver, and by face figure
As being transferred to described Logical processing unit, so that Logical processing unit is carried out to the facial image of driver point
Analysis：
When steering indicating light automotive run-off-road and described vehicle is detected is not opened, carried according to facial image
Take human eye feature point and face feature point, described condition is obtained according to human eye feature point, according to face
Characteristic point obtains described subjectivity and deviates intention, deviates intention in subjectivity consistent with the direction of automotive run-off-road
When, do not carry out audible alarm, when subjective deviation is intended to inconsistent with the direction of automotive run-off-road, enter
One step judges whether the condition of driver is fatigue, if being in non-fatigue state, does not also carry out sound
Sound is reported to the police, but if being in fatigue state, then at least carries out audible alarm, finally transmits alarm command
To man-machine interaction unit, reported to the police by man-machine interaction unit, in this way, can be according to forward sight
The facial image of the driver of the deviation image of collecting unit collection and the collection of backsight collecting unit is comprehensive
Decision-making, carries out lane change early warning, it is possible to increase the accuracy rate of vehicle lane change early warning, reduces security incident and occurs
Probability.
It should be noted that herein, term " inclusion ", "comprising" or its any other variant
Be intended to comprising of nonexcludability so that include a series of process of key elements, method, article or
Person's device not only includes those key elements, but also includes other key elements being not expressly set out, or also
Including for this process, method, article or the intrinsic key element of device.In the feelings not having more restrictions
Under condition, the key element that limited by sentence "including a ..." it is not excluded that include this key element process,
Also there is other identical element in method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-mentioned
Embodiment method can be realized by the mode of software plus necessary general hardware platform naturally it is also possible to lead to
Cross hardware, but the former is more preferably embodiment in many cases.Based on such understanding, the present invention's
Technical scheme substantially in other words prior art is contributed partly can in the form of software product body
Reveal to come, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, light
Disk) in, including some instructions with so that a station terminal equipment (can be mobile phone, computer, service
Device, air-conditioner, or network equipment etc.) execution each embodiment of the present invention described in method.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every
The equivalent structure made using description of the invention and accompanying drawing content or equivalent flow conversion, or directly or
Connect and be used in other related technical fields, be included within the scope of the present invention.
Claims (11)
1. a kind of method of lane departure warning is it is characterised in that the method bag of described lane departure warning
Include following steps：
Obtain the facial image of driver of backsight collecting unit collection, the collection of forward sight collecting unit of vehicle
Deviation image and steering indicating light signal gathering unit collection turn signal state；
When the steering indicating light described automotive run-off-road and described vehicle is detected is not opened, according to described people
The direction of face image and described automotive run-off-road carries out lane change early warning.
2. the method for lane departure warning as claimed in claim 1 is it is characterised in that described work as detection
To automotive run-off-road and when the steering indicating light of described vehicle does not open, according to described facial image and described car
The step that the direction of run-off-road carries out lane change early warning includes：
When steering indicating light automotive run-off-road and described vehicle is detected is not opened, according to described face figure
Deviate intention and condition as obtaining the subjective of described driver；
Judge whether described subjective deviation is intended to consistent with the direction of described automotive run-off-road；
If the described subjective intention that deviates is inconsistent with the direction of described automotive run-off-road, drive described in judgement
Whether the condition of the person of sailing is fatigue；
If the condition of described driver is fatigue, at least carry out audible alarm；
If the condition of described driver is non-fatigue, or described subjective deviation is intended to and described vehicle
When the direction of run-off-road is consistent, then do not carry out audible alarm.
3. lane departure warning as claimed in claim 2 method it is characterised in that described according to institute
The step stating the subjective deviation intention and condition that facial image obtains described driver includes：
Human eye feature point and face feature point are extracted according to described facial image；
Described condition is obtained according to described human eye feature point, according to described face feature point obtains
Subjective deviation is intended to.
4. lane departure warning as claimed in claim 3 method it is characterised in that described according to institute
State the described subjective step being intended to that deviates of face feature point acquisition to include：
Described the driver elevation angle average of head and head in Preset Time are obtained according to described face feature point
The deflection average in portion；
When described elevation angle average is more than predetermined angle threshold value, judge described deflection average whether more than pre-
If amount of yaw, and judge more than default amount of yaw persistent period whether less than default effectively
Time；
If the result judging is being, described subjective deviation being obtained according to described deflection average and is intended to.
5. the lane departure warning as described in any one of Claims 1-4 method it is characterised in that
Include before the step of the facial image of driver that the described backsight collecting unit obtaining vehicle gathers：
When the speed of described vehicle is more than pre-set velocity threshold value, obtain the forward sight collecting unit of described vehicle
The deviation image of collection, vehicle whether run-off-road according to described deviation image detection.
6. a kind of device of lane departure warning is it is characterised in that the device bag of described lane departure warning
Include：
Acquisition module, the facial image, front of the driver that the backsight collecting unit for obtaining vehicle gathers
Depending on the deviation image of collecting unit collection and the turn signal state of steering indicating light signal gathering unit collection；
Warning module, for when detecting described automotive run-off-road and the steering indicating light of described vehicle is not opened
When, the direction according to described facial image and described automotive run-off-road carries out lane change early warning.
7. the device of lane departure warning as claimed in claim 6 is it is characterised in that described early warning mould
Block includes：
Acquiring unit, during for not opening when steering indicating light automotive run-off-road and described vehicle is detected,
The subjective of described driver is obtained according to described facial image and deviates intention and condition；
First judging unit, for judging the described subjective direction deviateing intention and described automotive run-off-road
Whether consistent；
Second judging unit, if for described subjective deviate be intended to the direction of described automotive run-off-road not
Unanimously, then whether the condition judging described driver is fatigue；
First alarm unit, if the condition for described driver is fatigue, at least carries out sound
Report to the police；
Second alarm unit, if the condition for described driver is non-fatigue, or described subjectivity
When deviation is intended to consistent with the direction of described automotive run-off-road, then do not carry out audible alarm.
8. the device of lane departure warning as claimed in claim 7 is it is characterised in that described acquisition list
Unit includes：
Extract subelement, for human eye feature point and face feature point are extracted according to described facial image；
Obtain subelement, for described condition is obtained according to described human eye feature point, according to described face
Portion's characteristic point obtains described subjective deviation and is intended to.
9. the device of lane departure warning as claimed in claim 8 is it is characterised in that described acquisition is sub
Unit specifically for obtaining the elevation angle of described driver head in Preset Time according to described face feature point
The deflection average of average and head；When described elevation angle average is more than predetermined angle threshold value, judge described
Whether deflection average is more than default amount of yaw, and judge more than default amount of yaw lasting when
Between whether be less than default effective time；If the result judging is being, according to described deflection average
Obtain described subjective deviation to be intended to.
10. the lane departure warning as described in any one of claim 6 to 9 device it is characterised in that
The device of described lane departure warning also includes：
Detection module, for when the speed of described vehicle is more than pre-set velocity threshold value, obtaining described vehicle
Forward sight collecting unit collection deviation image, vehicle according to described deviation image detection
Whether run-off-road.
A kind of 11. systems of lane departure warning are it is characterised in that the system of described lane departure warning
Including forward sight collecting unit, backsight collecting unit, steering indicating light signal gathering unit and Logical processing unit,
Wherein：
Described forward sight collecting unit, for gathering track slip chart picture；
Described backsight collecting unit, for gathering the facial image of driver；
Described steering indicating light signal gathering unit, for gathering turn signal state；
Described Logical processing unit, for obtaining described deviation image, facial image and steering indicating light shape
State, when the steering indicating light described automotive run-off-road and described vehicle is detected is not opened, according to described people
The direction of face image and described automotive run-off-road carries out lane change early warning.
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